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Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- data/chunk-000/episode_000003.parquet +3 -0
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- meta/episodes.jsonl +34 -0
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- meta/info.json +117 -0
- meta/tasks.jsonl +1 -0
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| 31 |
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{"episode_index": 30, "tasks": [" pick up the top plate"], "length": 401}
|
| 32 |
+
{"episode_index": 31, "tasks": [" pick up the top plate"], "length": 88}
|
| 33 |
+
{"episode_index": 32, "tasks": [" pick up the top plate"], "length": 495}
|
| 34 |
+
{"episode_index": 33, "tasks": [" pick up the top plate"], "length": 352}
|
meta/episodes_stats.jsonl
ADDED
|
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|
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|
meta/info.json
ADDED
|
@@ -0,0 +1,117 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "franka",
|
| 4 |
+
"total_episodes": 34,
|
| 5 |
+
"total_frames": 11129,
|
| 6 |
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"total_tasks": 1,
|
| 7 |
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"total_videos": 0,
|
| 8 |
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"total_chunks": 1,
|
| 9 |
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"chunks_size": 1000,
|
| 10 |
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"fps": 15,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:34"
|
| 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 |
+
"image": {
|
| 18 |
+
"dtype": "image",
|
| 19 |
+
"shape": [
|
| 20 |
+
224,
|
| 21 |
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224,
|
| 22 |
+
3
|
| 23 |
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],
|
| 24 |
+
"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"channel"
|
| 28 |
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]
|
| 29 |
+
},
|
| 30 |
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"wrist_image": {
|
| 31 |
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"dtype": "image",
|
| 32 |
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"shape": [
|
| 33 |
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224,
|
| 34 |
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224,
|
| 35 |
+
3
|
| 36 |
+
],
|
| 37 |
+
"names": [
|
| 38 |
+
"height",
|
| 39 |
+
"width",
|
| 40 |
+
"channel"
|
| 41 |
+
]
|
| 42 |
+
},
|
| 43 |
+
"state": {
|
| 44 |
+
"dtype": "float32",
|
| 45 |
+
"shape": [
|
| 46 |
+
8
|
| 47 |
+
],
|
| 48 |
+
"names": [
|
| 49 |
+
"state"
|
| 50 |
+
]
|
| 51 |
+
},
|
| 52 |
+
"actions": {
|
| 53 |
+
"dtype": "float32",
|
| 54 |
+
"shape": [
|
| 55 |
+
7
|
| 56 |
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],
|
| 57 |
+
"names": [
|
| 58 |
+
"actions"
|
| 59 |
+
]
|
| 60 |
+
},
|
| 61 |
+
"gripper_id": {
|
| 62 |
+
"dtype": "int32",
|
| 63 |
+
"shape": [
|
| 64 |
+
1
|
| 65 |
+
],
|
| 66 |
+
"names": [
|
| 67 |
+
"gripper_id"
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"gripper_tracks": {
|
| 71 |
+
"dtype": "float32",
|
| 72 |
+
"shape": [
|
| 73 |
+
6,
|
| 74 |
+
2
|
| 75 |
+
],
|
| 76 |
+
"names": [
|
| 77 |
+
"tips",
|
| 78 |
+
"xy"
|
| 79 |
+
]
|
| 80 |
+
},
|
| 81 |
+
"timestamp": {
|
| 82 |
+
"dtype": "float32",
|
| 83 |
+
"shape": [
|
| 84 |
+
1
|
| 85 |
+
],
|
| 86 |
+
"names": null
|
| 87 |
+
},
|
| 88 |
+
"frame_index": {
|
| 89 |
+
"dtype": "int64",
|
| 90 |
+
"shape": [
|
| 91 |
+
1
|
| 92 |
+
],
|
| 93 |
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"names": null
|
| 94 |
+
},
|
| 95 |
+
"episode_index": {
|
| 96 |
+
"dtype": "int64",
|
| 97 |
+
"shape": [
|
| 98 |
+
1
|
| 99 |
+
],
|
| 100 |
+
"names": null
|
| 101 |
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},
|
| 102 |
+
"index": {
|
| 103 |
+
"dtype": "int64",
|
| 104 |
+
"shape": [
|
| 105 |
+
1
|
| 106 |
+
],
|
| 107 |
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"names": null
|
| 108 |
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},
|
| 109 |
+
"task_index": {
|
| 110 |
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"dtype": "int64",
|
| 111 |
+
"shape": [
|
| 112 |
+
1
|
| 113 |
+
],
|
| 114 |
+
"names": null
|
| 115 |
+
}
|
| 116 |
+
}
|
| 117 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": " pick up the top plate"}
|