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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 +315 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.color.head/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.color.head/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.color.outside/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.color.outside/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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data/chunk-000/episode_000001.parquet
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Use the vacuum attached to your left hand to suck up the large curved metal frame and lift it from the table."], "length": 157}
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{"episode_index": 1, "tasks": ["Use the vacuum attached to your left hand to suck up the large curved metal frame and lift it from the table."], "length": 99}
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meta/episodes_stats.jsonl
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|
meta/info.json
ADDED
|
@@ -0,0 +1,315 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "VR_H5D",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 256,
|
| 6 |
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"total_tasks": 1,
|
| 7 |
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"total_videos": 4,
|
| 8 |
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"total_chunks": 1,
|
| 9 |
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"chunks_size": 1000,
|
| 10 |
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"fps": 25,
|
| 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 |
+
16
|
| 21 |
+
],
|
| 22 |
+
"names": {
|
| 23 |
+
"displacement": [
|
| 24 |
+
"left_shoulder_pitch_joint",
|
| 25 |
+
"left_shoulder_roll_joint",
|
| 26 |
+
"left_shoulder_yaw_joint",
|
| 27 |
+
"left_elbow_pitch_joint",
|
| 28 |
+
"left_wrist_yaw_joint",
|
| 29 |
+
"left_wrist_roll_joint",
|
| 30 |
+
"left_wrist_pitch_joint",
|
| 31 |
+
"right_shoulder_pitch_joint",
|
| 32 |
+
"right_shoulder_roll_joint",
|
| 33 |
+
"right_shoulder_yaw_joint",
|
| 34 |
+
"right_elbow_pitch_joint",
|
| 35 |
+
"right_wrist_yaw_joint",
|
| 36 |
+
"right_wrist_roll_joint",
|
| 37 |
+
"right_wrist_pitch_joint",
|
| 38 |
+
"left_vacuum",
|
| 39 |
+
"right_vacuum"
|
| 40 |
+
]
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"observation.state": {
|
| 44 |
+
"dtype": "float32",
|
| 45 |
+
"shape": [
|
| 46 |
+
96
|
| 47 |
+
],
|
| 48 |
+
"names": {
|
| 49 |
+
"displacement": [
|
| 50 |
+
"left_hip_pitch_joint",
|
| 51 |
+
"left_hip_roll_joint",
|
| 52 |
+
"left_hip_yaw_joint",
|
| 53 |
+
"left_knee_pitch_joint",
|
| 54 |
+
"left_ankle_pitch_joint",
|
| 55 |
+
"left_ankle_roll_joint",
|
| 56 |
+
"right_hip_pitch_joint",
|
| 57 |
+
"right_hip_roll_joint",
|
| 58 |
+
"right_hip_yaw_joint",
|
| 59 |
+
"right_knee_pitch_joint",
|
| 60 |
+
"right_ankle_pitch_joint",
|
| 61 |
+
"right_ankle_roll_joint",
|
| 62 |
+
"waist_yaw_joint",
|
| 63 |
+
"waist_roll_joint",
|
| 64 |
+
"left_shoulder_pitch_joint",
|
| 65 |
+
"left_shoulder_roll_joint",
|
| 66 |
+
"left_shoulder_yaw_joint",
|
| 67 |
+
"left_elbow_pitch_joint",
|
| 68 |
+
"left_wrist_yaw_joint",
|
| 69 |
+
"left_wrist_roll_joint",
|
| 70 |
+
"left_wrist_pitch_joint",
|
| 71 |
+
"right_shoulder_pitch_joint",
|
| 72 |
+
"right_shoulder_roll_joint",
|
| 73 |
+
"right_shoulder_yaw_joint",
|
| 74 |
+
"right_elbow_pitch_joint",
|
| 75 |
+
"right_wrist_yaw_joint",
|
| 76 |
+
"right_wrist_roll_joint",
|
| 77 |
+
"right_wrist_pitch_joint",
|
| 78 |
+
"head_yaw_joint",
|
| 79 |
+
"head_pitch_joint",
|
| 80 |
+
"left_vacuum",
|
| 81 |
+
"right_vacuum",
|
| 82 |
+
"left_hip_pitch_joint_vel",
|
| 83 |
+
"left_hip_roll_joint_vel",
|
| 84 |
+
"left_hip_yaw_joint_vel",
|
| 85 |
+
"left_knee_pitch_joint_vel",
|
| 86 |
+
"left_ankle_pitch_joint_vel",
|
| 87 |
+
"left_ankle_roll_joint_vel",
|
| 88 |
+
"right_hip_pitch_joint_vel",
|
| 89 |
+
"right_hip_roll_joint_vel",
|
| 90 |
+
"right_hip_yaw_joint_vel",
|
| 91 |
+
"right_knee_pitch_joint_vel",
|
| 92 |
+
"right_ankle_pitch_joint_vel",
|
| 93 |
+
"right_ankle_roll_joint_vel",
|
| 94 |
+
"waist_yaw_joint_vel",
|
| 95 |
+
"waist_roll_joint_vel",
|
| 96 |
+
"left_shoulder_pitch_joint_vel",
|
| 97 |
+
"left_shoulder_roll_joint_vel",
|
| 98 |
+
"left_shoulder_yaw_joint_vel",
|
| 99 |
+
"left_elbow_pitch_joint_vel",
|
| 100 |
+
"left_wrist_yaw_joint_vel",
|
| 101 |
+
"left_wrist_roll_joint_vel",
|
| 102 |
+
"left_wrist_pitch_joint_vel",
|
| 103 |
+
"right_shoulder_pitch_joint_vel",
|
| 104 |
+
"right_shoulder_roll_joint_vel",
|
| 105 |
+
"right_shoulder_yaw_joint_vel",
|
| 106 |
+
"right_elbow_pitch_joint_vel",
|
| 107 |
+
"right_wrist_yaw_joint_vel",
|
| 108 |
+
"right_wrist_roll_joint_vel",
|
| 109 |
+
"right_wrist_pitch_joint_vel",
|
| 110 |
+
"head_yaw_joint_vel",
|
| 111 |
+
"head_pitch_joint_vel",
|
| 112 |
+
"left_vacuum_vel",
|
| 113 |
+
"right_vacuum_vel",
|
| 114 |
+
"left_hip_pitch_joint_eff",
|
| 115 |
+
"left_hip_roll_joint_eff",
|
| 116 |
+
"left_hip_yaw_joint_eff",
|
| 117 |
+
"left_knee_pitch_joint_eff",
|
| 118 |
+
"left_ankle_pitch_joint_eff",
|
| 119 |
+
"left_ankle_roll_joint_eff",
|
| 120 |
+
"right_hip_pitch_joint_eff",
|
| 121 |
+
"right_hip_roll_joint_eff",
|
| 122 |
+
"right_hip_yaw_joint_eff",
|
| 123 |
+
"right_knee_pitch_joint_eff",
|
| 124 |
+
"right_ankle_pitch_joint_eff",
|
| 125 |
+
"right_ankle_roll_joint_eff",
|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
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| 156 |
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|
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
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|
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|
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|
| 168 |
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|
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|
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meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
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|
|
|
|
|
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{"task_index": 0, "task": "Use the vacuum attached to your left hand to suck up the large curved metal frame and lift it from the table."}
|
videos/chunk-000/observation.images.color.head/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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ADDED
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ADDED
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