Upload folder using huggingface_hub

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2dbf4d1258687267cf9bf49fb87dd1b18b4e2697915244dfbf994c32e667d3f
+size 155745

meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["bifranka_teleoperation"], "length": 401}

meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"observation.joint_positions": {"min": [-0.44741082191467285, -0.23490814864635468, 0.23317813873291016, -2.496455192565918, -0.14269740879535675, 2.402729034423828, -0.8568503260612488, 0.07946914434432983, 0.07946914434432983, -0.39509522914886475, -0.2175653576850891, 0.11757218837738037, -2.6339473724365234, -0.09452575445175171, 2.195603609085083, -1.6156491041183472, -4.465333404368721e-05, -4.465333404368721e-05], "max": [-0.4472385048866272, -0.23452167212963104, 0.23337514698505402, -2.4960997104644775, -0.1426718831062317, 2.4027962684631348, -0.8568248152732849, 0.07947045564651489, 0.07947045564651489, 0.44084668159484863, 0.3236473798751831, 0.4008352756500244, -2.3200411796569824, 0.612006425857544, 2.92305850982666, -0.6007909774780273, 0.07267395406961441, 0.07267395406961441], "mean": [-0.4473207890987396, -0.2346811443567276, 0.23328079283237457, -2.496328830718994, -0.14268286526203156, 2.402758836746216, -0.8568382263183594, 0.07946975529193878, 0.07946975529193878, -0.09388326108455658, 0.18670278787612915, 0.17992302775382996, -2.489246368408203, 0.11721920967102051, 2.6384639739990234, -1.1411985158920288, 0.049812544137239456, 0.049812544137239456], "std": [2.6551555492915213e-05, 5.630340820061974e-05, 4.327211354393512e-05, 7.940482464618981e-05, 7.646791345905513e-06, 1.557530958962161e-05, 4.950193215336185e-06, 3.429722141845559e-07, 3.429722141845559e-07, 0.24016053974628448, 0.16766682267189026, 0.06272635608911514, 0.06531360745429993, 0.1550348401069641, 0.22746092081069946, 0.2539210915565491, 0.031884998083114624, 0.031884998083114624], "count": [401]}, "observation.ee_pose": {"min": [0.45771506428718567, -0.1670704036951065, 0.45860832929611206, 0.32569825649261475, 0.15272396802902222, -0.2617756426334381, 0.895521879196167, 0.35420405864715576, -0.17913714051246643, 0.20255063474178314, 0.3468298017978668, 0.15757478773593903, -0.4343351423740387, 0.6980547904968262], "max": [0.4578821659088135, -0.16694526374340057, 0.4588267207145691, 0.325875461101532, 0.15292419493198395, -0.2616232633590698, 0.8956028819084167, 0.5011925101280212, 0.1938926726579666, 0.4038010835647583, 0.5724876523017883, 0.2982639670372009, -0.3378005027770996, 0.8111443519592285], "mean": [0.45777568221092224, -0.16700436174869537, 0.45871424674987793, 0.32579895853996277, 0.1527959704399109, -0.26170870661735535, 0.8955550789833069, 0.44055432081222534, -0.05780082568526268, 0.2587754726409912, 0.4867900609970093, 0.20617495477199554, -0.36450526118278503, 0.7629271149635315], "std": [3.510853639454581e-05, 2.4646797101013362e-05, 5.327617691364139e-05, 3.143989306408912e-05, 4.820964386453852e-05, 3.7864650948904455e-05, 1.39953453981434e-05, 0.039058323949575424, 0.11798297613859177, 0.06187105178833008, 0.05554886534810066, 0.0346948578953743, 0.019780030474066734, 0.030411528423428535], "count": [401]}, "action.ee_pose": {"min": [0.8162956237792969, 0.5682242512702942, 0.10294409096240997, 0.45771506428718567, -0.3693419098854065, 0.6505904197692871, -0.6636296510696411, -0.1670704036951065, -0.4443771243095398, 0.5034245252609253, 0.7409146428108215, 0.45860832929611206, 0.0, 0.0, 0.0, 1.0, 0.5040627717971802, 0.7003136873245239, -0.17308753728866577, 0.35366290807724, -0.48428887128829956, 0.08768146485090256, -0.9755117297172546, -0.1888205111026764, -0.7519036531448364, 0.3018292188644409, 0.21566739678382874, 0.20255063474178314, 0.0, 0.0, 0.0, 1.0], "max": [0.8163678050041199, 0.5683871507644653, 0.10343263298273087, 0.4578821659088135, -0.3689529001712799, 0.6509108543395996, -0.6633607149124146, -0.16694526374340057, -0.4440925121307373, 0.5036848187446594, 0.7411394715309143, 0.4588267207145691, 0.0, 0.0, 0.0, 1.0, 0.7055996060371399, 0.8425118327140808, 0.20184014737606049, 0.5011200904846191, -0.1941191703081131, 0.45484521985054016, -0.7712906002998352, 0.19764381647109985, -0.5940212607383728, 0.6910082101821899, 0.6074670553207397, 0.4037594199180603, 0.0, 0.0, 0.0, 1.0], "mean": [0.8163251280784607, 0.5683107972145081, 0.10314521938562393, 0.45777568221092224, -0.36918747425079346, 0.6507275104522705, -0.6635169982910156, -0.16700436174869537, -0.44420304894447327, 0.5035647749900818, 0.741017758846283, 0.45871424674987793, 0.0, 0.0, 0.0, 1.0, 0.645876407623291, 0.7549617290496826, -0.04505631700158119, 0.4404241740703583, -0.3611462712287903, 0.24992983043193817, -0.8893759250640869, -0.05619838088750839, -0.6675585508346558, 0.5907169580459595, 0.4333183765411377, 0.2591744065284729, 0.0, 0.0, 0.0, 1.0], "std": [1.2268324098840822e-05, 3.7747351598227397e-05, 0.00011876473581651226, 3.510853639454581e-05, 9.31261238292791e-05, 6.727930303895846e-05, 4.807924779015593e-05, 2.4646797101013362e-05, 6.181086791912094e-05, 5.07611948705744e-05, 4.4069769501220435e-05, 5.327617691364139e-05, 0.0, 0.0, 0.0, 0.0, 0.04226544871926308, 0.03658463805913925, 0.0878731980919838, 0.03957061842083931, 0.05712435394525528, 0.10333162546157837, 0.04667282477021217, 0.11954379826784134, 0.04162799194455147, 0.08127472549676895, 0.0965159609913826, 0.0606808140873909, 0.0, 0.0, 0.0, 0.0], "count": [401]}, "action.gripper": {"min": [0.0, 0.0], "max": [0.0, 1.0], "mean": [0.0, 0.017456358298659325], "std": [0.0, 0.13096417486667633], "count": [401]}, "rgb.global_0": {"min": [[[0.0]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4655652832244009]], [[0.4644287854030501]], [[0.4492538453159042]]], "std": [[[0.14821746368570785]], [[0.14208839701935644]], [[0.14785676215857674]]], "count": [100]}, "pose.cambridge_mug": {"min": [[0.19699646532535553, -0.06933997571468353, 0.6700040102005005, 0.0730002224445343], [0.6619332432746887, -0.07774049043655396, -0.71495121717453, 0.25987017154693604], [-0.11995461583137512, 0.9695735573768616, -0.16837817430496216, 0.006624579429626465], [0.0, 0.0, 0.0, 1.0]], "max": [[0.7310689687728882, 0.14984765648841858, 0.9725046753883362, 0.41269704699516296], [0.9666675329208374, 0.19485622644424438, -0.197798952460289, 0.39016246795654297], [0.06901997327804565, 0.9879826307296753, 0.14729678630828857, 0.03177565336227417], [0.0, 0.0, 0.0, 1.0]], "mean": [[0.4548182189464569, -0.026322612538933754, 0.8691408634185791, 0.3340466022491455], [0.863519549369812, -0.00018663395894691348, -0.45398378372192383, 0.3583381772041321], [0.019759874790906906, 0.9868431687355042, 0.021962463855743408, 0.014985213987529278], [0.0, 0.0, 0.0, 1.0]], "std": [[0.13147839903831482, 0.02600407414138317, 0.06496147066354752, 0.11809924244880676], [0.06456941366195679, 0.027670791372656822, 0.13019751012325287, 0.04409696161746979], [0.02787303924560547, 0.0016877708258107305, 0.025606192648410797, 0.0038382180500775576], [0.0, 0.0, 0.0, 0.0]], "count": [401]}, "timestamp": {"min": [0.0], "max": [13.333333333333334], "mean": [6.666666666666666], "std": [3.8586123009300755], "count": [401]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [401]}, "frame_index": {"min": [0], "max": [400], "mean": [200.0], "std": [115.75836902790225], "count": [401]}, "index": {"min": [0], "max": [400], "mean": [200.0], "std": [115.75836902790225], "count": [401]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [401]}}}

meta/info.json

@@ -0,0 +1,182 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "bifranka",
+    "total_episodes": 1,
+    "total_frames": 401,
+    "total_tasks": 1,
+    "total_videos": 1,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.joint_positions": {
+            "dtype": "float32",
+            "shape": [
+                18
+            ],
+            "names": [
+                "l_joint_1",
+                "l_joint_2",
+                "l_joint_3",
+                "l_joint_4",
+                "l_joint_5",
+                "l_joint_6",
+                "l_joint_7",
+                "l_gripper_left",
+                "l_gripper_right",
+                "r_joint_1",
+                "r_joint_2",
+                "r_joint_3",
+                "r_joint_4",
+                "r_joint_5",
+                "r_joint_6",
+                "r_joint_7",
+                "r_gripper_left",
+                "r_gripper_right"
+            ]
+        },
+        "observation.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                "l_pos_x",
+                "l_pos_y",
+                "l_pos_z",
+                "l_quat_w",
+                "l_quat_x",
+                "l_quat_y",
+                "l_quat_z",
+                "r_pos_x",
+                "r_pos_y",
+                "r_pos_z",
+                "r_quat_w",
+                "r_quat_x",
+                "r_quat_y",
+                "r_quat_z"
+            ]
+        },
+        "action.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                32
+            ],
+            "names": [
+                "l_matrix_0_0",
+                "l_matrix_0_1",
+                "l_matrix_0_2",
+                "l_matrix_0_3",
+                "l_matrix_1_0",
+                "l_matrix_1_1",
+                "l_matrix_1_2",
+                "l_matrix_1_3",
+                "l_matrix_2_0",
+                "l_matrix_2_1",
+                "l_matrix_2_2",
+                "l_matrix_2_3",
+                "l_matrix_3_0",
+                "l_matrix_3_1",
+                "l_matrix_3_2",
+                "l_matrix_3_3",
+                "r_matrix_0_0",
+                "r_matrix_0_1",
+                "r_matrix_0_2",
+                "r_matrix_0_3",
+                "r_matrix_1_0",
+                "r_matrix_1_1",
+                "r_matrix_1_2",
+                "r_matrix_1_3",
+                "r_matrix_2_0",
+                "r_matrix_2_1",
+                "r_matrix_2_2",
+                "r_matrix_2_3",
+                "r_matrix_3_0",
+                "r_matrix_3_1",
+                "r_matrix_3_2",
+                "r_matrix_3_3"
+            ]
+        },
+        "action.gripper": {
+            "dtype": "float32",
+            "shape": [
+                2
+            ],
+            "names": [
+                "l_gripper",
+                "r_gripper"
+            ]
+        },
+        "rgb.global_0": {
+            "dtype": "video",
+            "shape": [
+                720,
+                1280,
+                3
+            ],
+            "names": [
+                "rgb"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 720,
+                "video.width": 1280,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "pose.cambridge_mug": {
+            "dtype": "float32",
+            "shape": [
+                4,
+                4
+            ],
+            "names": [
+                "pose"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "bifranka_teleoperation"}

videos/chunk-000/rgb.global_0/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cba57706db86c32e52ef25bc1374d3b1eec7f310532bd1d6e83b973809559ed8
+size 7146364