nhop commited on
Commit
606aeae
·
verified ·
1 Parent(s): a145a75

Upload folder using huggingface_hub

Browse files
Files changed (31) hide show
  1. data/chunk-000/episode_000000.parquet +2 -2
  2. data/chunk-000/episode_000001.parquet +3 -0
  3. data/chunk-000/episode_000002.parquet +3 -0
  4. data/chunk-000/episode_000003.parquet +3 -0
  5. data/chunk-000/episode_000004.parquet +3 -0
  6. data/chunk-000/episode_000005.parquet +3 -0
  7. data/chunk-000/episode_000006.parquet +3 -0
  8. data/chunk-000/episode_000007.parquet +3 -0
  9. data/chunk-000/episode_000008.parquet +3 -0
  10. meta/episodes.jsonl +9 -1
  11. meta/episodes_stats.jsonl +2 -2
  12. meta/info.json +81 -59
  13. meta/tasks.jsonl +9 -1
  14. videos/chunk-000/observation.image.rgb_gripper/episode_000000.mp4 +3 -0
  15. videos/chunk-000/observation.image.rgb_gripper/episode_000001.mp4 +3 -0
  16. videos/chunk-000/observation.image.rgb_gripper/episode_000002.mp4 +3 -0
  17. videos/chunk-000/observation.image.rgb_gripper/episode_000003.mp4 +3 -0
  18. videos/chunk-000/observation.image.rgb_gripper/episode_000004.mp4 +3 -0
  19. videos/chunk-000/observation.image.rgb_gripper/episode_000005.mp4 +3 -0
  20. videos/chunk-000/observation.image.rgb_gripper/episode_000006.mp4 +3 -0
  21. videos/chunk-000/observation.image.rgb_gripper/episode_000007.mp4 +3 -0
  22. videos/chunk-000/observation.image.rgb_gripper/episode_000008.mp4 +3 -0
  23. videos/chunk-000/observation.image.rgb_static/episode_000000.mp4 +3 -0
  24. videos/chunk-000/observation.image.rgb_static/episode_000001.mp4 +3 -0
  25. videos/chunk-000/observation.image.rgb_static/episode_000002.mp4 +3 -0
  26. videos/chunk-000/observation.image.rgb_static/episode_000003.mp4 +3 -0
  27. videos/chunk-000/observation.image.rgb_static/episode_000004.mp4 +3 -0
  28. videos/chunk-000/observation.image.rgb_static/episode_000005.mp4 +3 -0
  29. videos/chunk-000/observation.image.rgb_static/episode_000006.mp4 +3 -0
  30. videos/chunk-000/observation.image.rgb_static/episode_000007.mp4 +3 -0
  31. videos/chunk-000/observation.image.rgb_static/episode_000008.mp4 +3 -0
data/chunk-000/episode_000000.parquet CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:f813034fce2a0200de2f1559c2682ae2c5923f9c23aa9e6fdbfec82b2b773d23
3
- size 968732337
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b7453a9e4a0f8048d28309ff44c668b13e04124f193a81c7e4a934c32a0cdd52
3
+ size 16984
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:656b1cc0247e85122d8f5c10775d64db96fd3f27b819af896b365847d0325be2
3
+ size 12696
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ea5ad0ad346467c5ef360732318a0c73ffddb41be4faa5c9d35016410add1543
3
+ size 10582
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b541640dd3e35a7d55429d70fd0dde3e8937323826a73aa97cd4a7a3708a3ca3
3
+ size 16986
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:01e2e94a1ada2610d3f1e844647dbb443660312b16568ccf2de356b7f7ebd29e
3
+ size 16973
data/chunk-000/episode_000005.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9b65738d420439b04dd03568a7bd6c2424679b9bd7c623d180ae0a30454b9300
3
+ size 16987
data/chunk-000/episode_000006.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9fba64398a2a78a4ce93f823f17daf4ef34ea70c1e958801c4ab746875793434
3
+ size 16986
data/chunk-000/episode_000007.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:df608e50a8794d71080f080079043a03bcf8a3fa6687c74b422deac13cea6f41
3
+ size 10779
data/chunk-000/episode_000008.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7fa99fc22586bd9eeda053e006163b044448e02b5ab32b04f88d9f48a64740a6
3
+ size 16986
meta/episodes.jsonl CHANGED
@@ -1 +1,9 @@
1
- {"episode_index": 0, "tasks": ["play"], "length": 2770}
 
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["move the light switch to turn on the yellow light"], "length": 65}
2
+ {"episode_index": 1, "tasks": ["sweep the pink block to the right"], "length": 44}
3
+ {"episode_index": 2, "tasks": ["place the block in the sliding cabinet"], "length": 34}
4
+ {"episode_index": 3, "tasks": ["pick up the red block from the table"], "length": 65}
5
+ {"episode_index": 4, "tasks": ["in the slider grasp the blue block"], "length": 65}
6
+ {"episode_index": 5, "tasks": ["slide down the switch"], "length": 65}
7
+ {"episode_index": 6, "tasks": ["pick up the red block on the table"], "length": 65}
8
+ {"episode_index": 7, "tasks": ["place in slider"], "length": 35}
9
+ {"episode_index": 8, "tasks": ["turn off the light bulb"], "length": 65}
meta/episodes_stats.jsonl CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:4c1cb2248bd69d61614a3779ab81d8876b50eba79abac1885978112367fad9ff
3
- size 19603593
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1466b0023e803154d6c060af651233cc1461a3b697dce1afe3e0fad6abd46ed9
3
+ size 27402
meta/info.json CHANGED
@@ -1,87 +1,109 @@
1
  {
2
  "codebase_version": "v2.1",
3
  "robot_type": "franka_panda",
4
- "total_episodes": 1,
5
- "total_frames": 2770,
6
- "total_tasks": 1,
7
- "total_videos": 0,
8
  "total_chunks": 1,
9
  "chunks_size": 1000,
10
  "fps": 30,
11
  "splits": {
12
- "train": "0:1"
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
- "actions": {
18
- "dtype": "float64",
19
- "shape": [
20
- 7
21
- ]
22
- },
23
- "rel_actions": {
24
- "dtype": "float64",
25
- "shape": [
26
- 7
27
- ]
28
- },
29
- "robot_obs": {
30
- "dtype": "float64",
31
- "shape": [
32
- 15
33
- ]
34
- },
35
- "scene_obs": {
36
- "dtype": "float64",
37
- "shape": [
38
- 24
39
- ]
40
- },
41
- "rgb_static": {
42
- "dtype": "uint8",
43
  "shape": [
44
  200,
45
  200,
46
  3
47
- ]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
48
  },
49
- "rgb_gripper": {
50
- "dtype": "uint8",
51
  "shape": [
52
  84,
53
  84,
54
  3
55
- ]
56
- },
57
- "rgb_tactile": {
58
- "dtype": "uint8",
59
- "shape": [
60
- 160,
61
- 120,
62
- 6
63
- ]
64
- },
65
- "depth_static": {
66
- "dtype": "float32",
67
- "shape": [
68
- 200,
69
- 200
70
- ]
 
 
 
 
71
  },
72
- "depth_gripper": {
73
- "dtype": "float32",
74
  "shape": [
75
- 84,
76
- 84
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
77
  ]
78
  },
79
- "depth_tactile": {
80
- "dtype": "float32",
81
  "shape": [
82
- 160,
83
- 120,
84
- 2
 
 
 
 
 
 
 
85
  ]
86
  },
87
  "timestamp": {
 
1
  {
2
  "codebase_version": "v2.1",
3
  "robot_type": "franka_panda",
4
+ "total_episodes": 9,
5
+ "total_frames": 503,
6
+ "total_tasks": 9,
7
+ "total_videos": 18,
8
  "total_chunks": 1,
9
  "chunks_size": 1000,
10
  "fps": 30,
11
  "splits": {
12
+ "train": "0:9"
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
+ "observation.image.rgb_static": {
18
+ "dtype": "video",
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
19
  "shape": [
20
  200,
21
  200,
22
  3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channel"
28
+ ],
29
+ "video_info": {
30
+ "fps": 10,
31
+ "video_codec": "h264"
32
+ },
33
+ "info": {
34
+ "video.height": 200,
35
+ "video.width": 200,
36
+ "video.codec": "av1",
37
+ "video.pix_fmt": "yuv420p",
38
+ "video.is_depth_map": false,
39
+ "video.fps": 30,
40
+ "video.channels": 3,
41
+ "has_audio": false
42
+ }
43
  },
44
+ "observation.image.rgb_gripper": {
45
+ "dtype": "video",
46
  "shape": [
47
  84,
48
  84,
49
  3
50
+ ],
51
+ "names": [
52
+ "height",
53
+ "width",
54
+ "channel"
55
+ ],
56
+ "video_info": {
57
+ "fps": 10,
58
+ "video_codec": "h264"
59
+ },
60
+ "info": {
61
+ "video.height": 84,
62
+ "video.width": 84,
63
+ "video.codec": "av1",
64
+ "video.pix_fmt": "yuv420p",
65
+ "video.is_depth_map": false,
66
+ "video.fps": 30,
67
+ "video.channels": 3,
68
+ "has_audio": false
69
+ }
70
  },
71
+ "observation.state": {
72
+ "dtype": "float64",
73
  "shape": [
74
+ 15
75
+ ],
76
+ "names": [
77
+ "tcp_position_x",
78
+ "tcp_position_y",
79
+ "tcp_position_z",
80
+ "tcp_orientation_x",
81
+ "tcp_orientation_y",
82
+ "tcp_orientation_z",
83
+ "gripper_opening_width",
84
+ "arm_joint_positions_0",
85
+ "arm_joint_positions_1",
86
+ "arm_joint_positions_2",
87
+ "arm_joint_positions_3",
88
+ "arm_joint_positions_4",
89
+ "arm_joint_positions_5",
90
+ "arm_joint_positions_6",
91
+ "gripper_action"
92
  ]
93
  },
94
+ "action": {
95
+ "dtype": "float64",
96
  "shape": [
97
+ 7
98
+ ],
99
+ "names": [
100
+ "tcp_position_x",
101
+ "tcp_position_y",
102
+ "tcp_position_z",
103
+ "tcp_orientation_x",
104
+ "tcp_orientation_y",
105
+ "tcp_orientation_z",
106
+ "gripper_action"
107
  ]
108
  },
109
  "timestamp": {
meta/tasks.jsonl CHANGED
@@ -1 +1,9 @@
1
- {"task_index": 0, "task": "play"}
 
 
 
 
 
 
 
 
 
1
+ {"task_index": 0, "task": "move the light switch to turn on the yellow light"}
2
+ {"task_index": 1, "task": "sweep the pink block to the right"}
3
+ {"task_index": 2, "task": "place the block in the sliding cabinet"}
4
+ {"task_index": 3, "task": "pick up the red block from the table"}
5
+ {"task_index": 4, "task": "in the slider grasp the blue block"}
6
+ {"task_index": 5, "task": "slide down the switch"}
7
+ {"task_index": 6, "task": "pick up the red block on the table"}
8
+ {"task_index": 7, "task": "place in slider"}
9
+ {"task_index": 8, "task": "turn off the light bulb"}
videos/chunk-000/observation.image.rgb_gripper/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1665b83e05828f8005f36edab2547639ff6d8552421b0f12fb0b5ef8d5da5eb9
3
+ size 57607
videos/chunk-000/observation.image.rgb_gripper/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cfc2711fc95f6f6b16a8cfc3936f17fa7a019121dda4bf2621d86ef4d8da5653
3
+ size 34233
videos/chunk-000/observation.image.rgb_gripper/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0690bb0da4c05934012bb6a5f1bab15629d3b0bc3a9cc568af7c6e25a8fad2e0
3
+ size 25180
videos/chunk-000/observation.image.rgb_gripper/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e321aa110768c2946392a641fecc9d0d5ccca72ee28b84106cddeea07143b0d9
3
+ size 58423
videos/chunk-000/observation.image.rgb_gripper/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a098a8b16f3be20e6ce8da9207ef27920a554461791a077a555251ff49ec3857
3
+ size 53348
videos/chunk-000/observation.image.rgb_gripper/episode_000005.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8fbc33e73fa751895ada0c02fe4139233f6902ad9ff87130e042a734b41646a4
3
+ size 48865
videos/chunk-000/observation.image.rgb_gripper/episode_000006.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2e42eb7ca309e16b70e22aca52ef92fe2f01a56d5acebb1e20f36e3a87d5ed16
3
+ size 58869
videos/chunk-000/observation.image.rgb_gripper/episode_000007.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4d69cbdf79eef0f86c1b398b6a03bd1e4951d7ca3537ad1c7cc7655025ea6fdc
3
+ size 26979
videos/chunk-000/observation.image.rgb_gripper/episode_000008.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9823add6f3a4d2832cbd7fe1e137af9064104fe8083af847fd42c18e1f4e00f6
3
+ size 49291
videos/chunk-000/observation.image.rgb_static/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fd1e44245610d96abef4bdf8f0019958e1f36bbd8a5379d0d4ebba6267126bf2
3
+ size 255512
videos/chunk-000/observation.image.rgb_static/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f92f8e91b278c9f4266f62080c623beb44915ee1d8a21069039e975f5a0cc317
3
+ size 170143
videos/chunk-000/observation.image.rgb_static/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ce97c798b02dfdc168cc9873abb6d3520e559c4347e3acfd2bef80b4b5f6457e
3
+ size 128881
videos/chunk-000/observation.image.rgb_static/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:39b94c33d4278d3a5231a0c14c91c562e71d06dead7edecc9f3c361c30f96951
3
+ size 255480
videos/chunk-000/observation.image.rgb_static/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1aa79e2d6b07360bc2fbc87e568e40b89dbafba84a8c70f41a41c33cf9add488
3
+ size 246557
videos/chunk-000/observation.image.rgb_static/episode_000005.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bf4793bf0183bbf03baf6691c97ea2fe51b2c781e51b54abd7d6a8dbcf9dd86c
3
+ size 260364
videos/chunk-000/observation.image.rgb_static/episode_000006.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:27ba8e5d4a7aef359afc550041490ad8d24e126c6a249bfa82b2a4ac120f3496
3
+ size 256271
videos/chunk-000/observation.image.rgb_static/episode_000007.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6a36d65fc6d26826c556ff9a8f494924ed4b471025ef4d801a3df8ce3d54bfa6
3
+ size 129173
videos/chunk-000/observation.image.rgb_static/episode_000008.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:07ccbd546b1f4eb25bd5377360c5fc386271d91b188c624bfd9c5248d3ca1504
3
+ size 260538