zero7101 commited on
Commit
d624018
·
verified ·
1 Parent(s): beedbd8

Upload folder using huggingface_hub

Browse files
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:55522bfcc750cbaeceb353c518074905ba19ee506f17ccdc83fe47a9b254cbc7
3
+ size 9898
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:43223281a8ec8b3a9462c2d3edb537c8a8ed1b911a7f352eb7d61aa0e5f61b7f
3
+ size 10969
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6caadec6d3f334a8c65624415b61e9df2f844ea973ad6e94437fdfef2a38e9d4
3
+ size 10613
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index":0,"tasks":["Grab an object and drop it at a location."],"length":122}
2
+ {"episode_index":1,"tasks":["Grab an object and drop it at a location."],"length":140}
3
+ {"episode_index":2,"tasks":["Grab an object and drop it at a location."],"length":135}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index":0,"stats":{"action":{"min":[-0.11924516001479155,-1.5707963267948966,-1.1102230375845731e-16,-1.5707963267948966,0,-0.13089756337070266],"max":[0.84178287631271498,0,3.105,1.1960931566882194,1.5724048760933045,1.6000000000000001],"mean":[0.48558535282948961,-0.71870893777573752,1.1672247086575753,-0.58138392257796789,1.5706425537409916,0.91753733706509533],"std":[0.26118786005510064,0.45941241809193711,0.91406113720133353,0.55143935841713032,0.0091834552043880673,0.65516903077576361],"count":[244]},"observation.state":{"min":[-0.012382212373982708,-1.5430498708755347,0,-1.515618335032282,0,0],"max":[0.83907850189936395,0,3.1076072732378122,0.1636995833780783,1.5711706734207358,1.5999902408283193],"mean":[0.47911107947574166,-0.69617991290585246,1.2021151726274586,-0.58934692441742242,1.5650457786392624,0.992537191341888],"std":[0.25503876487194044,0.43328997350885939,0.89702826100099575,0.48201243541146549,0.019509242369850653,0.54027368179174529],"count":[244]},"timestamp":{"min":[0],"max":[4.0333333333333288],"mean":[2.0166666666666662],"std":[1.1739061101960213],"count":[244]},"frame_index":{"min":[0],"max":[121],"mean":[60.5],"std":[35.217183305880667],"count":[244]},"episode_index":{"min":[0],"max":[0],"mean":[0],"std":[0],"count":[244]},"index":{"min":[0],"max":[122],"mean":[61.5],"std":[35.217183305880667],"count":[244]},"task_index":{"min":[0],"max":[0],"mean":[0],"std":[0],"count":[244]},"observation.images.Camera 1":{"min":[[[0]],[[0]],[[0]]],"max":[[[0.95294117647058818]],[[0.93725490196078431]],[[0.99607843137254903]]],"mean":[[[0.04738953644401666]],[[0.048931532165972444]],[[0.055243463202545834]]],"std":[[[0.12358484587205161]],[[0.13232174701136398]],[[0.14505090829079437]]],"count":[122]},"observation.images.Camera 2":{"min":[[[0]],[[0]],[[0]]],"max":[[[1]],[[1]],[[1]]],"mean":[[[0.094741932231649437]],[[0.10040927462947358]],[[0.11206753852580736]]],"std":[[[0.2246345389818124]],[[0.24073467746416066]],[[0.26047246335555646]]],"count":[122]}}}
2
+ {"episode_index":1,"stats":{"action":{"min":[-0.16129009036290493,-1.5707963267948966,-2.2204460751691462e-16,-1.5707963267948966,-1.5707963267948966,-0.13089703073848463],"max":[0.79623649666477103,0,2.7860550554259258,0.17316038190787655,1.5707963267948966,1.439901959217502],"mean":[0.29766297587099688,-0.69786994582765527,1.0620384671467464,-0.52866976662192067,-0.89759790102565318,0.79644393503772049],"std":[0.39590074743453557,0.44702579179106011,0.90882537191520951,0.57038566319729955,1.2890768434607287,0.69601830909034168],"count":[280]},"observation.state":{"min":[-0.13782770779752268,-1.5555674841121712,0,-1.5499449235637004,-1.5698916146024908,-0.12898726858081969],"max":[0.78478706975924684,0,2.7430479989690966,0.17291982759814692,1.5710825326732636,1.4383971176328181],"mean":[0.29926253837345246,-0.68664767108629277,1.0694994576239087,-0.52824509259077523,-0.89674724345249079,0.79615977380947478],"std":[0.38019803216159676,0.41681784401271343,0.86556535390414424,0.52500247066206274,1.1591431120682738,0.67697473552502663],"count":[280]},"timestamp":{"min":[0],"max":[4.6333333333333266],"mean":[2.3166666666666655],"std":[1.3471162615833192],"count":[280]},"frame_index":{"min":[0],"max":[139],"mean":[69.5],"std":[40.413487847499624],"count":[280]},"episode_index":{"min":[0],"max":[1],"mean":[1],"std":[0],"count":[280]},"index":{"min":[0],"max":[262],"mean":[192.5],"std":[40.413487847499624],"count":[280]},"task_index":{"min":[0],"max":[0],"mean":[0],"std":[0],"count":[280]},"observation.images.Camera 1":{"min":[[[0]],[[0]],[[0]]],"max":[[[0.95294117647058818]],[[0.93725490196078431]],[[0.99607843137254903]]],"mean":[[[0.047573940638919975]],[[0.049129084780816359]],[[0.055453939720640243]]],"std":[[[0.12396983154844783]],[[0.13293614208215612]],[[0.14597949576735947]]],"count":[140]},"observation.images.Camera 2":{"min":[[[0]],[[0]],[[0]]],"max":[[[1]],[[1]],[[1]]],"mean":[[[0.096357235183547538]],[[0.10239540090724149]],[[0.11461870947757768]]],"std":[[[0.22626312173806989]],[[0.2431017843712649]],[[0.26366487853131071]]],"count":[140]}}}
3
+ {"episode_index":2,"stats":{"action":{"min":[-0.033376981823042766,-1.5707963267948966,-1.665334593335644e-16,-1.5707963267948966,0,-0.13089663126432113],"max":[0.80825607503359842,0,2.7892521803145658,0.16811858520067943,1.5707963267948966,1.439901959217502],"mean":[0.38396299032718961,-0.78215537392672629,1.2319872065980819,-0.5981837600373956,1.5707963267948923,0.80086275220964409],"std":[0.34006064793867657,0.43302224821266355,0.9480843535064869,0.57421711936173581,4.2188474935755949e-15,0.69171077559603977],"count":[270]},"observation.state":{"min":[0,-1.5551914213701814,0,-1.548777760094981,0,0],"max":[0.8061975260650055,0,2.7485532884697053,0.17600930204788123,1.5717176875741961,1.4383324117453333],"mean":[0.38253973376486539,-0.75939454736875145,1.2476711901912052,-0.59340464541997473,1.5700832600960914,0.89323292652337316],"std":[0.32904975527120334,0.4140572278346018,0.90280422686965556,0.54114188627022208,0.001103828555417235,0.55392941740649426],"count":[270]},"timestamp":{"min":[0],"max":[4.4666666666666606],"mean":[2.1304798962386506],"std":[1.2458979241510426],"count":[514]},"frame_index":{"min":[0],"max":[134],"mean":[67],"std":[38.970073988467952],"count":[270]},"episode_index":{"min":[0],"max":[2],"mean":[2],"std":[0],"count":[270]},"index":{"min":[0],"max":[397],"mean":[330],"std":[38.970073988467952],"count":[270]},"task_index":{"min":[0],"max":[0],"mean":[0],"std":[0],"count":[270]},"observation.images.Camera 1":{"min":[[[0]],[[0]],[[0]]],"max":[[[0.95294117647058818]],[[0.93725490196078431]],[[0.99607843137254903]]],"mean":[[[0.04721399157535739]],[[0.048697482633997556]],[[0.054878519315215292]]],"std":[[[0.12317543648564072]],[[0.13173314638169112]],[[0.14431319093993017]]],"count":[135]},"observation.images.Camera 2":{"min":[[[0]],[[0]],[[0]]],"max":[[[1]],[[1]],[[1]]],"mean":[[[0.094781600106742206]],[[0.10078928372428109]],[[0.11276356687182457]]],"std":[[[0.22370172657576892]],[[0.24074361527505325]],[[0.26132500718971907]]],"count":[135]}}}
meta/info.json ADDED
@@ -0,0 +1,137 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100",
4
+ "total_episodes": 3,
5
+ "total_frames": 397,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "shape": [ 480, 640, 3 ],
12
+ "splits":
13
+ {
14
+ "train": "0:3"
15
+ },
16
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
17
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
18
+ "features":
19
+ {
20
+ "action":
21
+ {
22
+ "dtype": "float32",
23
+ "shape": [ 6 ],
24
+ "names": [
25
+ "main_shoulder_pan",
26
+ "main_shoulder_lift",
27
+ "main_elbow_flex",
28
+ "main_wrist_flex",
29
+ "main_wrist_roll",
30
+ "main_gripper"
31
+ ]
32
+ },
33
+ "observation.state":
34
+ {
35
+ "dtype": "float32",
36
+ "shape": [ 6 ],
37
+ "names": [
38
+ "main_shoulder_pan",
39
+ "main_shoulder_lift",
40
+ "main_elbow_flex",
41
+ "main_wrist_flex",
42
+ "main_wrist_roll",
43
+ "main_gripper"
44
+ ]
45
+ },
46
+ "observation.images.Camera 1":
47
+ {
48
+ "dtype": "video",
49
+ "shape": [ 480, 640, 3 ],
50
+ "names": [
51
+ "height",
52
+ "width",
53
+ "channels"
54
+ ],
55
+ "info":
56
+ {
57
+ "video.fps": 30,
58
+ "video.height": 480,
59
+ "video.width": 640,
60
+ "video.channels": 3,
61
+ "video.codec": "av1",
62
+ "video.pix_fmt": "yuv420p",
63
+ "video.is_depth_map": false,
64
+ "has_audio": false,
65
+ "sensor_coordinates":
66
+ {
67
+ "x": -11.081196998197818,
68
+ "y": 3.6516531651056372,
69
+ "z": 76.587934708047115,
70
+ "pitch": -90,
71
+ "yaw": -160.52877936550928,
72
+ "roll": 160.52877936550922
73
+ }
74
+ }
75
+ },
76
+ "observation.images.Camera 2":
77
+ {
78
+ "dtype": "video",
79
+ "shape": [ 480, 640, 3 ],
80
+ "names": [
81
+ "height",
82
+ "width",
83
+ "channels"
84
+ ],
85
+ "info":
86
+ {
87
+ "video.fps": 30,
88
+ "video.height": 480,
89
+ "video.width": 640,
90
+ "video.channels": 3,
91
+ "video.codec": "av1",
92
+ "video.pix_fmt": "yuv420p",
93
+ "video.is_depth_map": false,
94
+ "has_audio": false,
95
+ "sensor_coordinates":
96
+ {
97
+ "x": -11.081196998197818,
98
+ "y": 3.6516531651056372,
99
+ "z": 86.587934708047115,
100
+ "pitch": -5.0000000000000009,
101
+ "yaw": 90.000000000000028,
102
+ "roll": -7.9817597091111011e-16
103
+ }
104
+ }
105
+ },
106
+ "timestamp":
107
+ {
108
+ "dtype": "float32",
109
+ "shape": [ 1 ],
110
+ "names": null
111
+ },
112
+ "frame_index":
113
+ {
114
+ "dtype": "int64",
115
+ "shape": [ 1 ],
116
+ "names": null
117
+ },
118
+ "episode_index":
119
+ {
120
+ "dtype": "int64",
121
+ "shape": [ 1 ],
122
+ "names": null
123
+ },
124
+ "index":
125
+ {
126
+ "dtype": "int64",
127
+ "shape": [ 1 ],
128
+ "names": null
129
+ },
130
+ "task_index":
131
+ {
132
+ "dtype": "int64",
133
+ "shape": [ 1 ],
134
+ "names": null
135
+ }
136
+ }
137
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index":0,"task":"Grab an object and drop it at a location."}
videos/chunk-000/observation.images.Camera 1/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d40ce7e77036f71982536345a4b984a938fe4bc34f544fe829a72ec8c9bfd87e
3
+ size 149633
videos/chunk-000/observation.images.Camera 1/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f99cf0d71b98c8b233295e64266ed9e2e8d2c23ff79840f9b9934edc22848591
3
+ size 170619
videos/chunk-000/observation.images.Camera 1/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3e2277f2d0553f88ec113d1da5bb9f5f39a52de645d7796a0c4cfb32df76e363
3
+ size 163169
videos/chunk-000/observation.images.Camera 2/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6e42641e649d5b6d2522fbc8f6fac82c38a29cf7969789228303ef22f9f01932
3
+ size 284015
videos/chunk-000/observation.images.Camera 2/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a1416f58c797557f96c78fe53856fc095bb68150dbf8b2f4d5c9216de5b48b88
3
+ size 326351
videos/chunk-000/observation.images.Camera 2/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5e2219710e76db24ab64b5be8eae43921dfdcc1189a31c73efad82f286b8ef5d
3
+ size 316336