Datasets:
Upload folder using huggingface_hub
Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +400 -0
- meta/stats.json +934 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.wrist_cam/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.zed_left/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.zed_right/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:a177db42a05b7f9b43cf0cb14f1234edb889ebff3595b2bf4c0e59a9135ac85d
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size 2564381
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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 sha256:6c9634ac01b7fa464b2156918e83a324e12edd016abed4b11c76f1e30a83314c
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size 622348
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meta/info.json
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| 1 |
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{
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| 9 |
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| 10 |
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|
| 11 |
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| 12 |
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|
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| 27 |
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| 32 |
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"fps": 30,
|
| 209 |
+
"width": 672,
|
| 210 |
+
"height": 376,
|
| 211 |
+
"side": "right",
|
| 212 |
+
"serial_number": "13925480"
|
| 213 |
+
},
|
| 214 |
+
"wrist_cam": {
|
| 215 |
+
"fps": 30,
|
| 216 |
+
"width": 640,
|
| 217 |
+
"height": 360,
|
| 218 |
+
"index_or_path": "/dev/video0",
|
| 219 |
+
"color_mode": "rgb",
|
| 220 |
+
"rotation": 0,
|
| 221 |
+
"warmup_s": 3,
|
| 222 |
+
"fourcc": "MJPG",
|
| 223 |
+
"backend": 200
|
| 224 |
+
}
|
| 225 |
+
},
|
| 226 |
+
"motor_can_ids": {
|
| 227 |
+
"shoulder_pan": [
|
| 228 |
+
1,
|
| 229 |
+
17
|
| 230 |
+
],
|
| 231 |
+
"shoulder_lift": [
|
| 232 |
+
2,
|
| 233 |
+
18
|
| 234 |
+
],
|
| 235 |
+
"elbow_flex": [
|
| 236 |
+
3,
|
| 237 |
+
19
|
| 238 |
+
],
|
| 239 |
+
"wrist_flex": [
|
| 240 |
+
4,
|
| 241 |
+
20
|
| 242 |
+
],
|
| 243 |
+
"wrist_yaw": [
|
| 244 |
+
5,
|
| 245 |
+
21
|
| 246 |
+
],
|
| 247 |
+
"wrist_roll": [
|
| 248 |
+
6,
|
| 249 |
+
22
|
| 250 |
+
],
|
| 251 |
+
"gripper": [
|
| 252 |
+
7,
|
| 253 |
+
23
|
| 254 |
+
]
|
| 255 |
+
},
|
| 256 |
+
"pos_vel_velocity": [
|
| 257 |
+
150.0,
|
| 258 |
+
150.0,
|
| 259 |
+
150.0,
|
| 260 |
+
150.0,
|
| 261 |
+
150.0,
|
| 262 |
+
150.0,
|
| 263 |
+
900.0
|
| 264 |
+
],
|
| 265 |
+
"control_mode": "mit",
|
| 266 |
+
"mit_kp": [
|
| 267 |
+
45.0,
|
| 268 |
+
45.0,
|
| 269 |
+
45.0,
|
| 270 |
+
8.0,
|
| 271 |
+
9.0,
|
| 272 |
+
8.0,
|
| 273 |
+
8.0
|
| 274 |
+
],
|
| 275 |
+
"mit_kd": [
|
| 276 |
+
12.0,
|
| 277 |
+
12.0,
|
| 278 |
+
12.0,
|
| 279 |
+
1.0,
|
| 280 |
+
1.0,
|
| 281 |
+
1.0,
|
| 282 |
+
1.0
|
| 283 |
+
],
|
| 284 |
+
"gravity_compensation": true,
|
| 285 |
+
"gravity_gain": 1.0,
|
| 286 |
+
"gravity_scale": {},
|
| 287 |
+
"gravity_payload_kg": 0.0,
|
| 288 |
+
"gravity_payload_com": [
|
| 289 |
+
0.0,
|
| 290 |
+
0.0,
|
| 291 |
+
0.0
|
| 292 |
+
],
|
| 293 |
+
"gravity_max_torque": 20.0,
|
| 294 |
+
"temp_warn_c": 57.0,
|
| 295 |
+
"temp_danger_c": 61.0,
|
| 296 |
+
"temp_max_c": 65.0,
|
| 297 |
+
"temp_warn_repeat_s": 3.0,
|
| 298 |
+
"temp_danger_repeat_s": 1.0,
|
| 299 |
+
"temp_history_s": 60.0,
|
| 300 |
+
"temp_sample_hz": 10.0,
|
| 301 |
+
"temp_shutdown_enabled": true,
|
| 302 |
+
"temp_debug": false,
|
| 303 |
+
"gripper_control_mode": "force_pos",
|
| 304 |
+
"gripper_torque_ratio": 0.07,
|
| 305 |
+
"gripper_mit_kp": 8.0,
|
| 306 |
+
"gripper_mit_kd": 0.3,
|
| 307 |
+
"send_rate_hz": 100.0,
|
| 308 |
+
"can_error_grace_s": 2.0,
|
| 309 |
+
"profile_log_path": null,
|
| 310 |
+
"enable_trajectory_smoothing": true,
|
| 311 |
+
"smoothing_time_constant_s": 0.02,
|
| 312 |
+
"joint_limits": {
|
| 313 |
+
"shoulder_pan": [
|
| 314 |
+
-150.0,
|
| 315 |
+
150.0
|
| 316 |
+
],
|
| 317 |
+
"shoulder_lift": [
|
| 318 |
+
-200.0,
|
| 319 |
+
1.0
|
| 320 |
+
],
|
| 321 |
+
"elbow_flex": [
|
| 322 |
+
-200.0,
|
| 323 |
+
1.0
|
| 324 |
+
],
|
| 325 |
+
"wrist_flex": [
|
| 326 |
+
-80.0,
|
| 327 |
+
90.0
|
| 328 |
+
],
|
| 329 |
+
"wrist_yaw": [
|
| 330 |
+
-90.0,
|
| 331 |
+
90.0
|
| 332 |
+
],
|
| 333 |
+
"wrist_roll": [
|
| 334 |
+
-90.0,
|
| 335 |
+
90.0
|
| 336 |
+
],
|
| 337 |
+
"gripper": [
|
| 338 |
+
-270.0,
|
| 339 |
+
0.0
|
| 340 |
+
]
|
| 341 |
+
},
|
| 342 |
+
"calibration_dir": null
|
| 343 |
+
},
|
| 344 |
+
"teleop": {
|
| 345 |
+
"type": "rebot_102_leader",
|
| 346 |
+
"id": "b601_leader",
|
| 347 |
+
"port": "/dev/ttyUSB0",
|
| 348 |
+
"baudrate": 1000000,
|
| 349 |
+
"joint_ids": {
|
| 350 |
+
"shoulder_pan": 0,
|
| 351 |
+
"shoulder_lift": 1,
|
| 352 |
+
"elbow_flex": 2,
|
| 353 |
+
"wrist_flex": 3,
|
| 354 |
+
"wrist_yaw": 4,
|
| 355 |
+
"wrist_roll": 5,
|
| 356 |
+
"gripper": 6
|
| 357 |
+
},
|
| 358 |
+
"joint_directions": {
|
| 359 |
+
"shoulder_pan": -1,
|
| 360 |
+
"shoulder_lift": -1,
|
| 361 |
+
"elbow_flex": 1,
|
| 362 |
+
"wrist_flex": 1,
|
| 363 |
+
"wrist_yaw": 1,
|
| 364 |
+
"wrist_roll": -1,
|
| 365 |
+
"gripper": -6
|
| 366 |
+
},
|
| 367 |
+
"joint_ranges": {
|
| 368 |
+
"shoulder_pan": [
|
| 369 |
+
-150,
|
| 370 |
+
150
|
| 371 |
+
],
|
| 372 |
+
"shoulder_lift": [
|
| 373 |
+
-200,
|
| 374 |
+
1
|
| 375 |
+
],
|
| 376 |
+
"elbow_flex": [
|
| 377 |
+
-200,
|
| 378 |
+
1
|
| 379 |
+
],
|
| 380 |
+
"wrist_flex": [
|
| 381 |
+
-80,
|
| 382 |
+
90
|
| 383 |
+
],
|
| 384 |
+
"wrist_yaw": [
|
| 385 |
+
-90,
|
| 386 |
+
90
|
| 387 |
+
],
|
| 388 |
+
"wrist_roll": [
|
| 389 |
+
-90,
|
| 390 |
+
90
|
| 391 |
+
],
|
| 392 |
+
"gripper": [
|
| 393 |
+
-270,
|
| 394 |
+
0
|
| 395 |
+
]
|
| 396 |
+
},
|
| 397 |
+
"calibration_dir": null
|
| 398 |
+
}
|
| 399 |
+
}
|
| 400 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,934 @@
|
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