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Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +323 -0
- meta/rh20t_config.json +65 -0
- meta/rh20t_episodes.json +27 -0
- meta/stats.json +2232 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.cam_036422060909/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.cam_038522062288/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.cam_045322071843/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.cam_104122062295/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.cam_104122062823/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.cam_104122063550/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.cam_104422070011/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.cam_135122079769/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.cam_f0172289/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet
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meta/info.json
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3
|
| 247 |
+
],
|
| 248 |
+
"names": [
|
| 249 |
+
"height",
|
| 250 |
+
"width",
|
| 251 |
+
"channels"
|
| 252 |
+
],
|
| 253 |
+
"info": {
|
| 254 |
+
"video.height": 360,
|
| 255 |
+
"video.width": 640,
|
| 256 |
+
"video.codec": "av1",
|
| 257 |
+
"video.pix_fmt": "yuv420p",
|
| 258 |
+
"video.is_depth_map": false,
|
| 259 |
+
"video.fps": 10,
|
| 260 |
+
"video.channels": 3,
|
| 261 |
+
"has_audio": false
|
| 262 |
+
}
|
| 263 |
+
},
|
| 264 |
+
"observation.images.cam_f0172289": {
|
| 265 |
+
"dtype": "video",
|
| 266 |
+
"shape": [
|
| 267 |
+
360,
|
| 268 |
+
640,
|
| 269 |
+
3
|
| 270 |
+
],
|
| 271 |
+
"names": [
|
| 272 |
+
"height",
|
| 273 |
+
"width",
|
| 274 |
+
"channels"
|
| 275 |
+
],
|
| 276 |
+
"info": {
|
| 277 |
+
"video.height": 360,
|
| 278 |
+
"video.width": 640,
|
| 279 |
+
"video.codec": "av1",
|
| 280 |
+
"video.pix_fmt": "yuv420p",
|
| 281 |
+
"video.is_depth_map": false,
|
| 282 |
+
"video.fps": 10,
|
| 283 |
+
"video.channels": 3,
|
| 284 |
+
"has_audio": false
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"timestamp": {
|
| 288 |
+
"dtype": "float32",
|
| 289 |
+
"shape": [
|
| 290 |
+
1
|
| 291 |
+
],
|
| 292 |
+
"names": null
|
| 293 |
+
},
|
| 294 |
+
"frame_index": {
|
| 295 |
+
"dtype": "int64",
|
| 296 |
+
"shape": [
|
| 297 |
+
1
|
| 298 |
+
],
|
| 299 |
+
"names": null
|
| 300 |
+
},
|
| 301 |
+
"episode_index": {
|
| 302 |
+
"dtype": "int64",
|
| 303 |
+
"shape": [
|
| 304 |
+
1
|
| 305 |
+
],
|
| 306 |
+
"names": null
|
| 307 |
+
},
|
| 308 |
+
"index": {
|
| 309 |
+
"dtype": "int64",
|
| 310 |
+
"shape": [
|
| 311 |
+
1
|
| 312 |
+
],
|
| 313 |
+
"names": null
|
| 314 |
+
},
|
| 315 |
+
"task_index": {
|
| 316 |
+
"dtype": "int64",
|
| 317 |
+
"shape": [
|
| 318 |
+
1
|
| 319 |
+
],
|
| 320 |
+
"names": null
|
| 321 |
+
}
|
| 322 |
+
}
|
| 323 |
+
}
|
meta/rh20t_config.json
ADDED
|
@@ -0,0 +1,65 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cfg": 4,
|
| 3 |
+
"robot": "ur5",
|
| 4 |
+
"gripper": "robotiq_2f85",
|
| 5 |
+
"inhand": [
|
| 6 |
+
"045322071843"
|
| 7 |
+
],
|
| 8 |
+
"dof": 6,
|
| 9 |
+
"ft": true,
|
| 10 |
+
"gripper_max_mm": 85.0,
|
| 11 |
+
"fps": 10,
|
| 12 |
+
"cameras": [
|
| 13 |
+
"036422060909",
|
| 14 |
+
"038522062288",
|
| 15 |
+
"045322071843",
|
| 16 |
+
"104122062295",
|
| 17 |
+
"104122062823",
|
| 18 |
+
"104122063550",
|
| 19 |
+
"104422070011",
|
| 20 |
+
"135122079769",
|
| 21 |
+
"f0172289"
|
| 22 |
+
],
|
| 23 |
+
"camera_hw": {
|
| 24 |
+
"036422060909": [
|
| 25 |
+
360,
|
| 26 |
+
640
|
| 27 |
+
],
|
| 28 |
+
"038522062288": [
|
| 29 |
+
360,
|
| 30 |
+
640
|
| 31 |
+
],
|
| 32 |
+
"045322071843": [
|
| 33 |
+
360,
|
| 34 |
+
640
|
| 35 |
+
],
|
| 36 |
+
"104122062295": [
|
| 37 |
+
360,
|
| 38 |
+
640
|
| 39 |
+
],
|
| 40 |
+
"104122062823": [
|
| 41 |
+
360,
|
| 42 |
+
640
|
| 43 |
+
],
|
| 44 |
+
"104122063550": [
|
| 45 |
+
360,
|
| 46 |
+
640
|
| 47 |
+
],
|
| 48 |
+
"104422070011": [
|
| 49 |
+
360,
|
| 50 |
+
640
|
| 51 |
+
],
|
| 52 |
+
"135122079769": [
|
| 53 |
+
360,
|
| 54 |
+
640
|
| 55 |
+
],
|
| 56 |
+
"f0172289": [
|
| 57 |
+
360,
|
| 58 |
+
640
|
| 59 |
+
]
|
| 60 |
+
},
|
| 61 |
+
"quat_order": "xyzw",
|
| 62 |
+
"n_episodes": 1,
|
| 63 |
+
"n_failed": 0,
|
| 64 |
+
"note": "recovered episodes (porter-bug fix / deferred-long), cfg4 schema"
|
| 65 |
+
}
|
meta/rh20t_episodes.json
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"0": {
|
| 3 |
+
"folder": "task_0064_user_0007_scene_0001_cfg_0004",
|
| 4 |
+
"task_id": 64,
|
| 5 |
+
"user_id": 7,
|
| 6 |
+
"scene_id": 1,
|
| 7 |
+
"cfg": 4,
|
| 8 |
+
"master_camera": "045322071843",
|
| 9 |
+
"cameras_present": [
|
| 10 |
+
"036422060909",
|
| 11 |
+
"038522062288",
|
| 12 |
+
"045322071843",
|
| 13 |
+
"104122062295",
|
| 14 |
+
"104122062823",
|
| 15 |
+
"104122063550",
|
| 16 |
+
"104422070011",
|
| 17 |
+
"f0172289"
|
| 18 |
+
],
|
| 19 |
+
"robot": "ur5",
|
| 20 |
+
"gripper": "robotiq_2f85",
|
| 21 |
+
"rating": 9,
|
| 22 |
+
"n_frames": 30830,
|
| 23 |
+
"duration_s": 3082.982,
|
| 24 |
+
"native_hz": 0.11,
|
| 25 |
+
"has_joint": true
|
| 26 |
+
}
|
| 27 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,2232 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"min": [
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| 4 |
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| 5 |
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| 6 |
+
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| 7 |
+
1.440544019715162e-05,
|
| 8 |
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|
| 9 |
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| 10 |
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| 11 |
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| 12 |
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|
| 13 |
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1.2656769752502441,
|
| 14 |
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| 15 |
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| 16 |
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| 17 |
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84.0
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| 18 |
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],
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| 19 |
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"max": [
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| 20 |
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| 21 |
+
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| 22 |
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