Datasets:
Add files using upload-large-folder tool
Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +223 -0
- meta/stats.json +1063 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.realsense_topview/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.realsense_wrist/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:97f6b3b21998ad0e6e7fe8521ae47170c8d804a11723043f247c11948162df2d
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size 1266685
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meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:f3b3bdda5fb54ec47bde9803c1c9fc0e7a93c6c8ab61a29e4b0c71e36f60cb89
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size 238931
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meta/info.json
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| 1 |
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{
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| 2 |
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"codebase_version": "v3.0",
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| 3 |
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"robot_type": "ur7e",
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| 4 |
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"total_episodes": 25,
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| 5 |
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"total_frames": 10563,
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| 6 |
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"total_tasks": 1,
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| 7 |
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"chunks_size": 1000,
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| 8 |
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"data_files_size_in_mb": 100,
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| 9 |
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"video_files_size_in_mb": 200,
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| 10 |
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"fps": 10,
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| 11 |
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"splits": {
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| 12 |
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"train": "0:25"
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| 13 |
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},
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| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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| 15 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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| 16 |
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"features": {
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| 17 |
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"observation.state": {
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| 18 |
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"dtype": "float32",
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| 19 |
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"shape": [
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| 20 |
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7
|
| 21 |
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],
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| 22 |
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"names": [
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| 23 |
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"shoulder_pan.pos",
|
| 24 |
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"shoulder_lift.pos",
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| 25 |
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"elbow.pos",
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| 26 |
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"wrist_1.pos",
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| 27 |
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"wrist_2.pos",
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| 28 |
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"wrist_3.pos",
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| 29 |
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"gripper.pos"
|
| 30 |
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]
|
| 31 |
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},
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| 32 |
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"action": {
|
| 33 |
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"dtype": "float32",
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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"names": [
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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"wrist_1.pos",
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| 42 |
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| 43 |
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"wrist_3.pos",
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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"observation.images.realsense_topview": {
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| 48 |
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"info": {
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"observation.images.realsense_wrist": {
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"dtype": "video",
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| 72 |
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"shape": [
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| 223 |
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}
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meta/stats.json
ADDED
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@@ -0,0 +1,1063 @@
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|
| 1 |
+
{
|
| 2 |
+
"skill.goal_position.robot_xyzrpy": {
|
| 3 |
+
"min": [
|
| 4 |
+
-0.3145442008972168,
|
| 5 |
+
-0.7617624998092651,
|
| 6 |
+
0.0,
|
| 7 |
+
-3.141592264175415,
|
| 8 |
+
-0.0008738621254451573,
|
| 9 |
+
-3.1415908336639404
|
| 10 |
+
],
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