Upload folder using huggingface_hub

data/episode_000000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b2a861b60bf255eedbf95d596b598ca20510db548eeac2ffe87e156e8f54ecc0
-size 18289
+oid sha256:6d080e6dde4b3fc9ac0ac60fd8361d6ccd87bf895d0056a3c3d6336bfda3c1de
+size 9931

data/episode_000001.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3baef42319d2f547c32ca490cdfdb9963260b8f58afb98ada7f0d3ad174e3ed7
-size 18290
+oid sha256:4c85fcf363de448e56e0c3620f49aa672a7a357ff7e6146dbf84b1211808c82e
+size 9938

data/episode_000002.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b5ebfd27a4460d7a3d9bc661bc6d29e4fee9dd1487b342922015f80e30e01162
-size 17338
+oid sha256:54bb4b3f26b20e91d34e18ad6615404c35da82d81c17d79d95cf527b9a6af876
+size 9936

meta/episodes.jsonl

@@ -1 +1,3 @@
+{"episode_index": 0, "tasks": [0], "length": 50}
+{"episode_index": 1, "tasks": [0], "length": 50}
 {"episode_index": 2, "tasks": [0], "length": 50}

meta/info.json

@@ -1,22 +1,25 @@
 {
     "codebase_version": "v2.0",
-    "robot_type": "unknown_robot",
+    "robot_type": "franka",
     "fps": 10,
     "features": {
-        "observation.image": {
+        "observation.images.cam_ext": {
             "dtype": "video",
             "shape": [
-                3,
-                480,
-                640
+                128,
+                128,
+                3
             ],
             "names": [
-                "channels",
                 "height",
-                "width"
+                "width",
+                "rgb"
             ],
             "info": {
-                "video.fps": 10,
+                "video.fps": 10.0,
+                "video.height": 128,
+                "video.width": 128,
+                "video.channels": 3,
                 "video.codec": "mp4v",
                 "video.pix_fmt": "rgb24",
                 "video.is_depth_map": false,
@@ -26,57 +29,32 @@
         "observation.state": {
             "dtype": "float32",
             "shape": [
-                6
+                8
             ],
             "names": [
-                "joint_0",
-                "joint_1",
-                "joint_2",
-                "joint_3",
-                "joint_4",
-                "joint_5"
-            ]
-        },
-        "observation.velocity": {
-            "dtype": "float32",
-            "shape": [
-                6
-            ],
-            "names": [
-                "joint_vel_0",
-                "joint_vel_1",
-                "joint_vel_2",
-                "joint_vel_3",
-                "joint_vel_4",
-                "joint_vel_5"
-            ]
-        },
-        "observation.wrench": {
-            "dtype": "float32",
-            "shape": [
-                6
-            ],
-            "names": [
-                "fx",
-                "fy",
-                "fz",
-                "tx",
-                "ty",
-                "tz"
+                "x",
+                "y",
+                "z",
+                "roll",
+                "pitch",
+                "yaw",
+                "pad",
+                "gripper"
             ]
         },
         "action": {
             "dtype": "float32",
             "shape": [
-                6
+                7
             ],
             "names": [
-                "joint_act_0",
-                "joint_act_1",
-                "joint_act_2",
-                "joint_act_3",
-                "joint_act_4",
-                "joint_act_5"
+                "x",
+                "y",
+                "z",
+                "roll",
+                "pitch",
+                "yaw",
+                "gripper"
             ]
         },
         "timestamp": {
@@ -123,6 +101,15 @@
             "names": [
                 "index"
             ]
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": [
+                "done"
+            ]
         }
     }
 }

meta/stats.json

@@ -1,138 +1,82 @@
 {
     "observation.state": {
         "mean": [
-            -0.0793537287786603,
-            0.24459277510643004,
-            0.23463882014155388,
-            0.13996447719633578,
-            -0.018619390446692707,
-            0.08509762138128281
+            0.03150838986039162,
+            -0.08098538964986801,
+            0.40672874450683594,
+            -0.01746949553489685,
+            -0.02723921835422516,
+            0.03578206151723862,
+            0.0,
+            0.0
         ],
         "std": [
-            1.8349026782422906,
-            1.762232083645531,
-            1.8079508455081412,
-            1.9198278798639812,
-            1.7979695290219249,
-            1.6916190109063594
+            1.815200686454773,
+            1.7835347652435303,
+            1.7262473106384277,
+            1.842816948890686,
+            1.8771226406097412,
+            1.7384693622589111,
+            0.0,
+            0.0
         ],
         "min": [
             -3.1039316654205322,
-            -2.9360828399658203,
+            -3.049572467803955,
             -3.1363401412963867,
-            -3.032473087310791,
-            -3.046152353286743,
-            -2.8483235836029053
+            -3.1010520458221436,
+            -3.13969349861145,
+            -3.0726354122161865,
+            0.0,
+            0.0
         ],
         "max": [
-            3.0800702571868896,
-            3.0564751625061035,
-            3.0537033081054688,
+            3.1331770420074463,
+            3.1324303150177,
+            3.1025333404541016,
             3.140679359436035,
-            3.0755021572113037,
-            2.9397313594818115
-        ]
-    },
-    "observation.velocity": {
-        "mean": [
-            0.024319930961355568,
-            0.11982800174504518,
-            -0.2418805729597807,
-            0.05846151988953352,
-            0.007307435432448983,
-            0.2203855034778826
-        ],
-        "std": [
-            0.5692720527887813,
-            0.5604956438573258,
-            0.5241781932386338,
-            0.5802338334350345,
-            0.49025907958645554,
-            0.5523313765809225
-        ],
-        "min": [
-            -0.9763374924659729,
-            -0.9325743913650513,
-            -0.9948181509971619,
-            -0.9989086985588074,
-            -0.9758004546165466,
-            -0.8105771541595459
-        ],
-        "max": [
-            0.9426707625389099,
-            0.9656851887702942,
-            0.9974489212036133,
-            0.9807169437408447,
-            0.9850598573684692,
-            0.9879013895988464
-        ]
-    },
-    "observation.wrench": {
-        "mean": [
-            -1.2716235537081957,
-            -0.11599179625511169,
-            -0.11404143810272217,
-            -0.07272004321217537,
-            -0.6419910460710525,
-            0.5264738398417831
-        ],
-        "std": [
-            6.207034063721875,
-            5.286331222430956,
-            5.5769016413584875,
-            2.642713458179971,
-            2.9198940666705715,
-            2.9546709299526768
-        ],
-        "min": [
-            -9.711557388305664,
-            -9.668526649475098,
-            -9.692793846130371,
-            -4.884801864624023,
-            -4.966484546661377,
-            -4.982131481170654
-        ],
-        "max": [
-            9.185489654541016,
-            8.6826171875,
-            9.872781753540039,
-            4.90194845199585,
-            4.971621036529541,
-            4.919187068939209
+            3.124709367752075,
+            2.9397313594818115,
+            0.0,
+            0.0
         ]
     },
     "action": {
         "mean": [
-            -0.0793537287786603,
-            0.24459277510643004,
-            0.23463882014155388,
-            0.13996447719633578,
-            -0.018619390446692707,
-            0.08509762138128281
+            0.03150838986039162,
+            -0.08098538964986801,
+            0.40672874450683594,
+            -0.01746949553489685,
+            -0.02723921835422516,
+            0.03578206151723862,
+            0.0
         ],
         "std": [
-            1.8349026782422906,
-            1.762232083645531,
-            1.8079508455081412,
-            1.9198278798639812,
-            1.7979695290219249,
-            1.6916190109063594
+            1.815200686454773,
+            1.7835347652435303,
+            1.7262473106384277,
+            1.842816948890686,
+            1.8771226406097412,
+            1.7384693622589111,
+            0.0
         ],
         "min": [
             -3.1039316654205322,
-            -2.9360828399658203,
+            -3.049572467803955,
             -3.1363401412963867,
-            -3.032473087310791,
-            -3.046152353286743,
-            -2.8483235836029053
+            -3.1010520458221436,
+            -3.13969349861145,
+            -3.0726354122161865,
+            0.0
         ],
         "max": [
-            3.0800702571868896,
-            3.0564751625061035,
-            3.0537033081054688,
+            3.1331770420074463,
+            3.1324303150177,
+            3.1025333404541016,
             3.140679359436035,
-            3.0755021572113037,
-            2.9397313594818115
+            3.124709367752075,
+            2.9397313594818115,
+            0.0
         ]
     }
 }

videos/observation.images.cam_ext/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e61e1a09355ba366aace4a9478a8ecad7447d0988f725768499bd10475e37e39
+size 65646

videos/observation.images.cam_ext/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:565c915551c6a51755290774160f9acf83547353e1a3147a8ced798635ee7b5e
+size 92011

videos/observation.images.cam_ext/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:320316b87c62b928acba4dc0c50e8337a48f82cf4a49be74416f533848a1640e
+size 75958