abhisb commited on
Commit
2385743
·
verified ·
1 Parent(s): d9a0863

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 sha256:6f8aaa2d3cd4142987932c4025eec03e008123e0d52aa96f08a3ecf060cfe592
3
+ size 230279
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 2217}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-47.78824996948242, -2.3495407104492188, 19.304241180419922, -118.27748107910156, -28.62470245361328, -9.463590621948242, -61.160301208496094, 51.82121276855469, 20.01654624938965, -112.2060317993164, -20.821929931640625, -8.213955879211426], "max": [58.611183166503906, 103.31624603271484, 165.43601989746094, 1.3912696838378906, -7.282676696777344, 52.897647857666016, 59.36994934082031, 175.07589721679688, 196.12327575683594, 24.675945281982422, 38.77750015258789, 54.16461181640625], "mean": [-10.430246353149414, 56.56132125854492, 73.00492858886719, -64.98947143554688, -18.029918670654297, -2.397207260131836, 3.8732948303222656, 102.18916320800781, 38.78641128540039, -1.2824078798294067, 4.372599124908447, -2.2100179195404053], "std": [20.60272789001465, 41.75893020629883, 38.271270751953125, 41.79242706298828, 5.963733196258545, 11.806185722351074, 15.989900588989258, 18.125965118408203, 41.313602447509766, 36.619659423828125, 8.342628479003906, 8.335315704345703], "count": [2217]}, "observation.state": {"min": [-46.142578125, 7.119140625, 16.259765625, -117.509765625, -28.212890625, -1.9176136255264282, -57.48046875, 59.150390625, 14.150390625, -111.533203125, -20.126953125, -1.828029751777649], "max": [58.095703125, 104.23828125, 161.89453125, 7.822265625, -7.91015625, 52.130680084228516, 58.271484375, 174.111328125, 185.009765625, 22.939453125, 38.583984375, 53.893028259277344], "mean": [-10.128076553344727, 60.359676361083984, 71.3822250366211, -65.44929504394531, -17.921009063720703, 2.896566390991211, 3.97133207321167, 103.10335540771484, 37.82722473144531, -1.2829177379608154, 4.41534423828125, 0.33839520812034607], "std": [20.597505569458008, 39.64858627319336, 37.510860443115234, 41.948280334472656, 5.874842166900635, 9.238911628723145, 15.502950668334961, 16.88213539123535, 39.94246292114258, 36.46073913574219, 8.274202346801758, 7.635460376739502], "count": [2217]}, "observation.images.overhead": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5112930350674842]], [[0.4728581407623249]], [[0.49333606254679374]]], "std": [[[0.1440622981180307]], [[0.1378827562445868]], [[0.16086040354465111]]], "count": [323]}, "observation.images.left_gripper": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4582600992280297]], [[0.40249858986422227]], [[0.38790878697970416]]], "std": [[[0.21907900005374104]], [[0.2460835570829722]], [[0.27740829492609426]]], "count": [323]}, "observation.images.right_gripper": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6010643243236407]], [[0.48297085255670896]], [[0.45504595777939655]]], "std": [[[0.21539452955419638]], [[0.22107908790213227]], [[0.2389720754473525]]], "count": [323]}, "timestamp": {"min": [0.0], "max": [73.86666666666666], "mean": [36.93333333333333], "std": [21.33309027639317], "count": [2217]}, "frame_index": {"min": [0], "max": [2216], "mean": [1108.0], "std": [639.9927082917951], "count": [2217]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2217]}, "index": {"min": [0], "max": [2216], "mean": [1108.0], "std": [639.9927082917951], "count": [2217]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2217]}}}
meta/info.json ADDED
@@ -0,0 +1,162 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100_aloha",
4
+ "total_episodes": 1,
5
+ "total_frames": 2217,
6
+ "total_tasks": 1,
7
+ "total_videos": 3,
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
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 12
21
+ ],
22
+ "names": [
23
+ "left_shoulder_pan",
24
+ "left_shoulder_lift",
25
+ "left_elbow_flex",
26
+ "left_wrist_flex",
27
+ "left_wrist_roll",
28
+ "left_gripper",
29
+ "right_shoulder_pan",
30
+ "right_shoulder_lift",
31
+ "right_elbow_flex",
32
+ "right_wrist_flex",
33
+ "right_wrist_roll",
34
+ "right_gripper"
35
+ ]
36
+ },
37
+ "observation.state": {
38
+ "dtype": "float32",
39
+ "shape": [
40
+ 12
41
+ ],
42
+ "names": [
43
+ "left_shoulder_pan",
44
+ "left_shoulder_lift",
45
+ "left_elbow_flex",
46
+ "left_wrist_flex",
47
+ "left_wrist_roll",
48
+ "left_gripper",
49
+ "right_shoulder_pan",
50
+ "right_shoulder_lift",
51
+ "right_elbow_flex",
52
+ "right_wrist_flex",
53
+ "right_wrist_roll",
54
+ "right_gripper"
55
+ ]
56
+ },
57
+ "observation.images.overhead": {
58
+ "dtype": "video",
59
+ "shape": [
60
+ 360,
61
+ 640,
62
+ 3
63
+ ],
64
+ "names": [
65
+ "height",
66
+ "width",
67
+ "channels"
68
+ ],
69
+ "info": {
70
+ "video.fps": 30.0,
71
+ "video.height": 360,
72
+ "video.width": 640,
73
+ "video.channels": 3,
74
+ "video.codec": "h264",
75
+ "video.pix_fmt": "yuv420p",
76
+ "video.is_depth_map": false,
77
+ "has_audio": false
78
+ }
79
+ },
80
+ "observation.images.left_gripper": {
81
+ "dtype": "video",
82
+ "shape": [
83
+ 240,
84
+ 320,
85
+ 3
86
+ ],
87
+ "names": [
88
+ "height",
89
+ "width",
90
+ "channels"
91
+ ],
92
+ "info": {
93
+ "video.fps": 30.0,
94
+ "video.height": 240,
95
+ "video.width": 320,
96
+ "video.channels": 3,
97
+ "video.codec": "h264",
98
+ "video.pix_fmt": "yuv420p",
99
+ "video.is_depth_map": false,
100
+ "has_audio": false
101
+ }
102
+ },
103
+ "observation.images.right_gripper": {
104
+ "dtype": "video",
105
+ "shape": [
106
+ 240,
107
+ 320,
108
+ 3
109
+ ],
110
+ "names": [
111
+ "height",
112
+ "width",
113
+ "channels"
114
+ ],
115
+ "info": {
116
+ "video.fps": 30.0,
117
+ "video.height": 240,
118
+ "video.width": 320,
119
+ "video.channels": 3,
120
+ "video.codec": "h264",
121
+ "video.pix_fmt": "yuv420p",
122
+ "video.is_depth_map": false,
123
+ "has_audio": false
124
+ }
125
+ },
126
+ "timestamp": {
127
+ "dtype": "float32",
128
+ "shape": [
129
+ 1
130
+ ],
131
+ "names": null
132
+ },
133
+ "frame_index": {
134
+ "dtype": "int64",
135
+ "shape": [
136
+ 1
137
+ ],
138
+ "names": null
139
+ },
140
+ "episode_index": {
141
+ "dtype": "int64",
142
+ "shape": [
143
+ 1
144
+ ],
145
+ "names": null
146
+ },
147
+ "index": {
148
+ "dtype": "int64",
149
+ "shape": [
150
+ 1
151
+ ],
152
+ "names": null
153
+ },
154
+ "task_index": {
155
+ "dtype": "int64",
156
+ "shape": [
157
+ 1
158
+ ],
159
+ "names": null
160
+ }
161
+ }
162
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
videos/chunk-000/observation.images.left_gripper/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:338f7063f07f7e88c712064cbcd12b558a04f0b268ac59fc92e6808eda3130be
3
+ size 3094393
videos/chunk-000/observation.images.overhead/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d3f27529d01d2dec4619e04f48abdf72eb88d225a10d4c216f0b9403cd0f9b59
3
+ size 20170347
videos/chunk-000/observation.images.right_gripper/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b2f9710fd788763e5f2104c9ed077d76d7f679113bdcbfe039c59025505200ac
3
+ size 3917222