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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 +464 -0
- meta/stats.json +799 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.back_left_fisheye/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.back_right_fisheye/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.hand_left/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.hand_right/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.head_center_fisheye/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.head_left_fisheye/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.head_right_fisheye/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.top_head/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 sha256:58b5fa46f40d8300cd4d7ddb59805d03bb7f39e592f418a8ab8f0d0721bee50b
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size 4014236
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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:c5853fff570ff49fe78779ce41e40bd50b9af4173049bc1087dfc9ad8b88524d
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size 145565
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meta/info.json
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| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
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"robot_type": "AgiBot_A2D",
|
| 4 |
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"total_episodes": 5,
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| 5 |
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"total_frames": 6554,
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| 6 |
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"total_tasks": 1,
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| 7 |
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"chunks_size": 1000,
|
| 8 |
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"data_files_size_in_mb": 100,
|
| 9 |
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"video_files_size_in_mb": 500,
|
| 10 |
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"fps": 30,
|
| 11 |
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"splits": {
|
| 12 |
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"train": "0:5"
|
| 13 |
+
},
|
| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
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"features": {
|
| 17 |
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"observation.state.effector.position": {
|
| 18 |
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"dtype": "float32",
|
| 19 |
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"shape": [
|
| 20 |
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|
| 21 |
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],
|
| 22 |
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"names": {
|
| 23 |
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"axes": [
|
| 24 |
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"left_gripper",
|
| 25 |
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"right_gripper"
|
| 26 |
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]
|
| 27 |
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}
|
| 28 |
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},
|
| 29 |
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"observation.state.end.position": {
|
| 30 |
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"dtype": "float32",
|
| 31 |
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"shape": [
|
| 32 |
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6
|
| 33 |
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],
|
| 34 |
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"names": {
|
| 35 |
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"axes": [
|
| 36 |
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"left_x",
|
| 37 |
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"left_y",
|
| 38 |
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"left_z",
|
| 39 |
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"right_x",
|
| 40 |
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"right_y",
|
| 41 |
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"right_z"
|
| 42 |
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]
|
| 43 |
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}
|
| 44 |
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},
|
| 45 |
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"observation.state.end.orientation": {
|
| 46 |
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"dtype": "float32",
|
| 47 |
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"shape": [
|
| 48 |
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8
|
| 49 |
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],
|
| 50 |
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"names": {
|
| 51 |
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"axes": [
|
| 52 |
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"left_x",
|
| 53 |
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"left_y",
|
| 54 |
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"left_z",
|
| 55 |
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"left_w",
|
| 56 |
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"right_x",
|
| 57 |
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"right_y",
|
| 58 |
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"right_z",
|
| 59 |
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"right_w"
|
| 60 |
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]
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"observation.state.head.position": {
|
| 64 |
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"dtype": "float32",
|
| 65 |
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"shape": [
|
| 66 |
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2
|
| 67 |
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],
|
| 68 |
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"names": {
|
| 69 |
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"axes": [
|
| 70 |
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"yaw",
|
| 71 |
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"pitch"
|
| 72 |
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]
|
| 73 |
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}
|
| 74 |
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},
|
| 75 |
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"observation.state.joint.current_value": {
|
| 76 |
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"dtype": "float32",
|
| 77 |
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"shape": [
|
| 78 |
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14
|
| 79 |
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],
|
| 80 |
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"names": {
|
| 81 |
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"axes": [
|
| 82 |
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"left_joint_0",
|
| 83 |
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"left_joint_1",
|
| 84 |
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"left_joint_2",
|
| 85 |
+
"left_joint_3",
|
| 86 |
+
"left_joint_4",
|
| 87 |
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"left_joint_5",
|
| 88 |
+
"left_joint_6",
|
| 89 |
+
"right_joint_0",
|
| 90 |
+
"right_joint_1",
|
| 91 |
+
"right_joint_2",
|
| 92 |
+
"right_joint_3",
|
| 93 |
+
"right_joint_4",
|
| 94 |
+
"right_joint_5",
|
| 95 |
+
"right_joint_6"
|
| 96 |
+
]
|
| 97 |
+
}
|
| 98 |
+
},
|
| 99 |
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"observation.state.joint.position": {
|
| 100 |
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"dtype": "float32",
|
| 101 |
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"shape": [
|
| 102 |
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14
|
| 103 |
+
],
|
| 104 |
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"names": {
|
| 105 |
+
"axes": [
|
| 106 |
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"left_joint_0",
|
| 107 |
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"left_joint_1",
|
| 108 |
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"left_joint_2",
|
| 109 |
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"left_joint_3",
|
| 110 |
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"left_joint_4",
|
| 111 |
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"left_joint_5",
|
| 112 |
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"left_joint_6",
|
| 113 |
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"right_joint_0",
|
| 114 |
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"right_joint_1",
|
| 115 |
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"right_joint_2",
|
| 116 |
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"right_joint_3",
|
| 117 |
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"right_joint_4",
|
| 118 |
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"right_joint_5",
|
| 119 |
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"right_joint_6"
|
| 120 |
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]
|
| 121 |
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}
|
| 122 |
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},
|
| 123 |
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"observation.state.waist.position": {
|
| 124 |
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"dtype": "float32",
|
| 125 |
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"shape": [
|
| 126 |
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2
|
| 127 |
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],
|
| 128 |
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"names": {
|
| 129 |
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"axes": [
|
| 130 |
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"pitch",
|
| 131 |
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"lift"
|
| 132 |
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]
|
| 133 |
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}
|
| 134 |
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},
|
| 135 |
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"observation.state": {
|
| 136 |
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"dtype": "float32",
|
| 137 |
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"shape": [
|
| 138 |
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20
|
| 139 |
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],
|
| 140 |
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"names": {
|
| 141 |
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"axes": [
|
| 142 |
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"head_yaw",
|
| 143 |
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"head_pitch",
|
| 144 |
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"left_joint_0",
|
| 145 |
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"left_joint_1",
|
| 146 |
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"left_joint_2",
|
| 147 |
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"left_joint_3",
|
| 148 |
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"left_joint_4",
|
| 149 |
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"left_joint_5",
|
| 150 |
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"left_joint_6",
|
| 151 |
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"left_gripper",
|
| 152 |
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"right_joint_0",
|
| 153 |
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"right_joint_1",
|
| 154 |
+
"right_joint_2",
|
| 155 |
+
"right_joint_3",
|
| 156 |
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"right_joint_4",
|
| 157 |
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"right_joint_5",
|
| 158 |
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"right_joint_6",
|
| 159 |
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"right_gripper",
|
| 160 |
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"waist_pitch",
|
| 161 |
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"waist_lift"
|
| 162 |
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]
|
| 163 |
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}
|
| 164 |
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},
|
| 165 |
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"action.effector.position": {
|
| 166 |
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"dtype": "float32",
|
| 167 |
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"shape": [
|
| 168 |
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2
|
| 169 |
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],
|
| 170 |
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"names": {
|
| 171 |
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"axes": [
|
| 172 |
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"left_gripper",
|
| 173 |
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"right_gripper"
|
| 174 |
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]
|
| 175 |
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}
|
| 176 |
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},
|
| 177 |
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"action.end.position": {
|
| 178 |
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"dtype": "float32",
|
| 179 |
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|
meta/stats.json
ADDED
|
@@ -0,0 +1,799 @@
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