Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- meta/episodes.jsonl +2 -0
- meta/episodes_stats.jsonl +2 -0
- meta/info.json +157 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.teleop_left/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.teleop_left/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.teleop_right/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.teleop_right/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1d405ee31ac2dea30f806396621c306bcd7832ed924dfa580a4376f6b5709e92
|
| 3 |
+
size 12812
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d6d24b1ec45f46fd034b6a4a8226430004891d0ae66371a81c2580a9a567b514
|
| 3 |
+
size 14139
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Grab a cube with Reachy 2"], "length": 49}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Grab a cube with Reachy 2"], "length": 57}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [0.0, 25.0, 0.0, -10.303089141845703, 5.089817047119141, 24.369421005249023, -67.09420776367188, -9.626211166381836, 4.447572708129883, -14.908611297607422, -4.844474792480469, 21.956953048706055, 6.553335189819336, -10.671955108642578, -103.88080596923828, 16.74220085144043, -2.0076916217803955, 15.342997550964355, 130.0, 0.0, 0.0], "max": [0.0, 25.0, 0.0, -9.82163143157959, 5.227635383605957, 24.508955001831055, -66.61422729492188, -9.12412166595459, 4.6458587646484375, -14.638355255126953, -3.7485122680664062, 21.987607955932617, 6.561422348022461, -10.645207405090332, -103.81512451171875, 16.78155517578125, -1.9723037481307983, 15.367609024047852, 130.0, 0.0, 0.0], "mean": [0.0, 25.0, 0.0, -10.063030242919922, 5.165973663330078, 24.445011138916016, -66.79950714111328, -9.392457962036133, 4.543022155761719, -14.829188346862793, -4.313070297241211, 21.966371536254883, 6.556888580322266, -10.660065650939941, -103.8434829711914, 16.76820182800293, -1.9844319820404053, 15.3553466796875, 130.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.097470223903656, 0.03301999717950821, 0.03139353170990944, 0.09734734892845154, 0.14116868376731873, 0.05924451723694801, 0.055734891444444656, 0.2956940233707428, 0.006096270866692066, 0.0017997001996263862, 0.00517378281801939, 0.015368071384727955, 0.009296322241425514, 0.007642898242920637, 0.005393421743065119, 0.0, 0.0, 0.0], "count": [49]}, "observation.state": {"min": [-0.015768777579069138, 24.955942153930664, -0.04803891107439995, -10.171920776367188, -5.805706977844238, 14.345176696777344, -102.05332946777344, -17.175569534301758, 4.385777950286865, -17.993541717529297, -4.570312023162842, 19.184412002563477, 6.487557411193848, -10.686624526977539, -103.8934326171875, 12.845041275024414, -3.091364860534668, 15.320446014404297, 129.90234375, 0.2636726200580597, -1.669926643371582], "max": [0.027564026415348053, 25.04033660888672, 0.02674880065023899, 13.889984130859375, 5.214716911315918, 24.479534149169922, -66.67256164550781, -9.142626762390137, 7.6196675300598145, -14.727779388427734, 129.990234375, 22.11399269104004, 6.962284088134766, -7.790059566497803, -100.60598754882812, 16.861963272094727, -1.9667787551879883, 15.3790864944458, 130.078125, 2.0214900970458984, -1.1425813436508179], "mean": [-0.0016218199161812663, 25.001279830932617, 0.003327342215925455, -8.190827369689941, 4.283897399902344, 23.593677520751953, -69.55133819580078, -9.887718200683594, 4.720817565917969, -15.031455993652344, 9.893973350524902, 21.765012741088867, 6.588277816772461, -10.453967094421387, -103.60116577148438, 16.53123664855957, -2.0516879558563232, 15.356232643127441, 129.98306274414062, 0.9094016551971436, -1.1676933765411377], "std": [0.011048437096178532, 0.014575371518731117, 0.017979459837079048, 5.90231466293335, 2.7559502124786377, 2.581244945526123, 8.674214363098145, 1.796645164489746, 0.7000352144241333, 0.7213382124900818, 37.48543930053711, 0.6559638381004333, 0.10465291142463684, 0.6764366030693054, 0.7718886733055115, 0.8995656967163086, 0.24710406363010406, 0.019544798880815506, 0.04289872571825981, 0.1973712295293808, 0.08137115836143494], "count": [49]}, "observation.images.teleop_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4717590827997866]], [[0.46653867380285446]], [[0.4211828231292517]]], "std": [[[0.26726528383033316]], [[0.26284945170946744]], [[0.280240689423174]]], "count": [49]}, "observation.images.teleop_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4861062174869948]], [[0.4690045893357343]], [[0.43584853941576635]]], "std": [[[0.27037388254004496]], [[0.2632118289003148]], [[0.27799018145595633]]], "count": [49]}, "timestamp": {"min": [0.0], "max": [3.2], "mean": [1.5999999999999999], "std": [0.9428090415820634], "count": [49]}, "frame_index": {"min": [0], "max": [48], "mean": [24.0], "std": [14.142135623730951], "count": [49]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [49]}, "index": {"min": [0], "max": [48], "mean": [24.0], "std": [14.142135623730951], "count": [49]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [49]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"action": {"min": [0.0, 25.0, 0.0, -10.273953437805176, 5.028437614440918, 24.310083389282227, -67.12541961669922, -9.59675407409668, 4.446120738983154, -14.968246459960938, -5.178192138671875, 21.952730178833008, 6.553109169006348, -10.673399925231934, -103.8736801147461, 16.745662689208984, -2.0006911754608154, 15.32290267944336, 130.0, 0.0, 0.0], "max": [0.0, 25.0, 0.0, -9.74566650390625, 5.1723785400390625, 24.44037628173828, -66.59503936767578, -9.08542251586914, 4.659948348999023, -14.66965103149414, -4.098655700683594, 21.98293113708496, 6.5610575675964355, -10.643324851989746, -103.80889129638672, 16.78819465637207, -1.959456205368042, 15.364124298095703, 130.0, 0.0, 0.0], "mean": [0.0, 25.0, 0.0, -10.050581932067871, 5.111453533172607, 24.36994171142578, -66.77972412109375, -9.383068084716797, 4.549107551574707, -14.881136894226074, -4.630275726318359, 21.963626861572266, 6.556555271148682, -10.658990859985352, -103.83629608154297, 16.770444869995117, -1.9761091470718384, 15.349259376525879, 130.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.11039424687623978, 0.03166292980313301, 0.027927575632929802, 0.11184584349393845, 0.14212237298488617, 0.05940847098827362, 0.05907747894525528, 0.3084311783313751, 0.0056512909941375256, 0.0016648441087454557, 0.0058397348038852215, 0.0142074478790164, 0.01222804095596075, 0.008303697220981121, 0.007565939798951149, 0.0, 0.0, 0.0], "count": [57]}, "observation.state": {"min": [-0.02310296520590782, 24.9849796295166, -0.1337457150220871, -10.153435707092285, -5.801080226898193, 14.42968463897705, -102.05926513671875, -17.158559799194336, 4.4580464363098145, -17.981544494628906, -4.74609375, 19.253076553344727, 6.400396823883057, -10.680027961730957, -103.87626647949219, 12.87681770324707, -3.0491342544555664, 15.310345649719238, 129.90234375, 0.1757817417383194, -1.1425813436508179], "max": [0.027766793966293335, 25.030176162719727, 0.05726044997572899, 13.893287658691406, 5.152652263641357, 24.40030288696289, -66.6395492553711, -9.125123023986816, 7.653205394744873, -14.769559860229492, -4.042966365814209, 22.058530807495117, 6.95832633972168, -7.852113723754883, -100.6456069946289, 16.852994918823242, -1.9611753225326538, 15.375107765197754, 129.990234375, 1.1425813436508179, -0.5273452401161194], "mean": [0.0009622529614716768, 24.998445510864258, -0.0002599751460365951, -8.646810531616211, 4.453866004943848, 23.724632263183594, -68.83424377441406, -9.753594398498535, 4.691020965576172, -15.027848243713379, -4.454666614532471, 21.81260108947754, 6.5780720710754395, -10.505547523498535, -103.65662384033203, 16.58456802368164, -2.02829909324646, 15.34937572479248, 129.98561096191406, 0.8480702042579651, -0.9822192788124084], "std": [0.009682297706604004, 0.009836605750024319, 0.04191666468977928, 5.1145172119140625, 2.387922763824463, 2.234015941619873, 7.502828598022461, 1.560947299003601, 0.6208716630935669, 0.6164776682853699, 0.1949082314968109, 0.5657907128334045, 0.09727831929922104, 0.5820217132568359, 0.6658941507339478, 0.7751837968826294, 0.212819442152977, 0.018944120034575462, 0.019625699147582054, 0.14861993491649628, 0.08251925557851791], "count": [57]}, "observation.images.teleop_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46964642457860334]], [[0.4648531203417039]], [[0.4195847666552001]]], "std": [[[0.2668833626148328]], [[0.26252925784200676]], [[0.279767997878831]]], "count": [57]}, "observation.images.teleop_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48462988762756565]], [[0.4678628346806559]], [[0.43573951525054466]]], "std": [[[0.27005547001562824]], [[0.2629679114592708]], [[0.2773093373714935]]], "count": [57]}, "timestamp": {"min": [0.0], "max": [3.7333333333333334], "mean": [1.8666666666666665], "std": [1.0967966826002726], "count": [57]}, "frame_index": {"min": [0], "max": [56], "mean": [28.0], "std": [16.451950239004088], "count": [57]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [57]}, "index": {"min": [49], "max": [105], "mean": [77.0], "std": [16.451950239004088], "count": [57]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [57]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,157 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "reachy2",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 106,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 4,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 15,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:2"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"action": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
21
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"neck_yaw.pos",
|
| 24 |
+
"neck_pitch.pos",
|
| 25 |
+
"neck_roll.pos",
|
| 26 |
+
"r_shoulder_pitch.pos",
|
| 27 |
+
"r_shoulder_roll.pos",
|
| 28 |
+
"r_elbow_yaw.pos",
|
| 29 |
+
"r_elbow_pitch.pos",
|
| 30 |
+
"r_wrist_roll.pos",
|
| 31 |
+
"r_wrist_pitch.pos",
|
| 32 |
+
"r_wrist_yaw.pos",
|
| 33 |
+
"r_gripper.pos",
|
| 34 |
+
"l_shoulder_pitch.pos",
|
| 35 |
+
"l_shoulder_roll.pos",
|
| 36 |
+
"l_elbow_yaw.pos",
|
| 37 |
+
"l_elbow_pitch.pos",
|
| 38 |
+
"l_wrist_roll.pos",
|
| 39 |
+
"l_wrist_pitch.pos",
|
| 40 |
+
"l_wrist_yaw.pos",
|
| 41 |
+
"l_gripper.pos",
|
| 42 |
+
"l_antenna.pos",
|
| 43 |
+
"r_antenna.pos"
|
| 44 |
+
]
|
| 45 |
+
},
|
| 46 |
+
"observation.state": {
|
| 47 |
+
"dtype": "float32",
|
| 48 |
+
"shape": [
|
| 49 |
+
21
|
| 50 |
+
],
|
| 51 |
+
"names": [
|
| 52 |
+
"neck_yaw.pos",
|
| 53 |
+
"neck_pitch.pos",
|
| 54 |
+
"neck_roll.pos",
|
| 55 |
+
"r_shoulder_pitch.pos",
|
| 56 |
+
"r_shoulder_roll.pos",
|
| 57 |
+
"r_elbow_yaw.pos",
|
| 58 |
+
"r_elbow_pitch.pos",
|
| 59 |
+
"r_wrist_roll.pos",
|
| 60 |
+
"r_wrist_pitch.pos",
|
| 61 |
+
"r_wrist_yaw.pos",
|
| 62 |
+
"r_gripper.pos",
|
| 63 |
+
"l_shoulder_pitch.pos",
|
| 64 |
+
"l_shoulder_roll.pos",
|
| 65 |
+
"l_elbow_yaw.pos",
|
| 66 |
+
"l_elbow_pitch.pos",
|
| 67 |
+
"l_wrist_roll.pos",
|
| 68 |
+
"l_wrist_pitch.pos",
|
| 69 |
+
"l_wrist_yaw.pos",
|
| 70 |
+
"l_gripper.pos",
|
| 71 |
+
"l_antenna.pos",
|
| 72 |
+
"r_antenna.pos"
|
| 73 |
+
]
|
| 74 |
+
},
|
| 75 |
+
"observation.images.teleop_left": {
|
| 76 |
+
"dtype": "video",
|
| 77 |
+
"shape": [
|
| 78 |
+
480,
|
| 79 |
+
640,
|
| 80 |
+
3
|
| 81 |
+
],
|
| 82 |
+
"names": [
|
| 83 |
+
"height",
|
| 84 |
+
"width",
|
| 85 |
+
"channels"
|
| 86 |
+
],
|
| 87 |
+
"info": {
|
| 88 |
+
"video.height": 480,
|
| 89 |
+
"video.width": 640,
|
| 90 |
+
"video.codec": "av1",
|
| 91 |
+
"video.pix_fmt": "yuv420p",
|
| 92 |
+
"video.is_depth_map": false,
|
| 93 |
+
"video.fps": 15,
|
| 94 |
+
"video.channels": 3,
|
| 95 |
+
"has_audio": false
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"observation.images.teleop_right": {
|
| 99 |
+
"dtype": "video",
|
| 100 |
+
"shape": [
|
| 101 |
+
480,
|
| 102 |
+
640,
|
| 103 |
+
3
|
| 104 |
+
],
|
| 105 |
+
"names": [
|
| 106 |
+
"height",
|
| 107 |
+
"width",
|
| 108 |
+
"channels"
|
| 109 |
+
],
|
| 110 |
+
"info": {
|
| 111 |
+
"video.height": 480,
|
| 112 |
+
"video.width": 640,
|
| 113 |
+
"video.codec": "av1",
|
| 114 |
+
"video.pix_fmt": "yuv420p",
|
| 115 |
+
"video.is_depth_map": false,
|
| 116 |
+
"video.fps": 15,
|
| 117 |
+
"video.channels": 3,
|
| 118 |
+
"has_audio": false
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"timestamp": {
|
| 122 |
+
"dtype": "float32",
|
| 123 |
+
"shape": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"names": null
|
| 127 |
+
},
|
| 128 |
+
"frame_index": {
|
| 129 |
+
"dtype": "int64",
|
| 130 |
+
"shape": [
|
| 131 |
+
1
|
| 132 |
+
],
|
| 133 |
+
"names": null
|
| 134 |
+
},
|
| 135 |
+
"episode_index": {
|
| 136 |
+
"dtype": "int64",
|
| 137 |
+
"shape": [
|
| 138 |
+
1
|
| 139 |
+
],
|
| 140 |
+
"names": null
|
| 141 |
+
},
|
| 142 |
+
"index": {
|
| 143 |
+
"dtype": "int64",
|
| 144 |
+
"shape": [
|
| 145 |
+
1
|
| 146 |
+
],
|
| 147 |
+
"names": null
|
| 148 |
+
},
|
| 149 |
+
"task_index": {
|
| 150 |
+
"dtype": "int64",
|
| 151 |
+
"shape": [
|
| 152 |
+
1
|
| 153 |
+
],
|
| 154 |
+
"names": null
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Grab a cube with Reachy 2"}
|
videos/chunk-000/observation.images.teleop_left/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2adf87a763d3cea641809f71667d7075ebb450424e076f3b2f2f99a43ad3d28b
|
| 3 |
+
size 829065
|
videos/chunk-000/observation.images.teleop_left/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:20788dac9edf88174e76f01260cdfd770ea1b5c1b2c9dcc944557d68728a23ba
|
| 3 |
+
size 957348
|
videos/chunk-000/observation.images.teleop_right/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c0f7e6de03dd82621c0711d32a182ed54d572467df4cf2588ffed679e11df8e0
|
| 3 |
+
size 670656
|
videos/chunk-000/observation.images.teleop_right/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:028300184c1eeeb23bdf0af36977ad9efdc7b23d0c1330a0fc73a5ef1274a5e7
|
| 3 |
+
size 787705
|