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Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- data/chunk-000/episode_000003.parquet +3 -0
- data/chunk-000/episode_000004.parquet +3 -0
- meta/episodes.jsonl +5 -0
- meta/episodes_stats.jsonl +5 -0
- meta/info.json +304 -0
- meta/rilab_episodes.jsonl +5 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.cam_head/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.cam_head/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.cam_head/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.cam_head/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.cam_head/episode_000004.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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| 3 |
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| 4 |
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|
| 5 |
+
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|
meta/info.json
ADDED
|
@@ -0,0 +1,304 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "ffw_sh5_rev1",
|
| 4 |
+
"total_episodes": 5,
|
| 5 |
+
"total_frames": 1872,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 5,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 10,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:5"
|
| 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 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
57
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"arm_l_joint1",
|
| 24 |
+
"arm_l_joint2",
|
| 25 |
+
"arm_l_joint3",
|
| 26 |
+
"arm_l_joint4",
|
| 27 |
+
"arm_l_joint5",
|
| 28 |
+
"arm_l_joint6",
|
| 29 |
+
"arm_l_joint7",
|
| 30 |
+
"arm_r_joint1",
|
| 31 |
+
"arm_r_joint2",
|
| 32 |
+
"arm_r_joint3",
|
| 33 |
+
"arm_r_joint4",
|
| 34 |
+
"arm_r_joint5",
|
| 35 |
+
"arm_r_joint6",
|
| 36 |
+
"arm_r_joint7",
|
| 37 |
+
"finger_l_joint1",
|
| 38 |
+
"finger_l_joint2",
|
| 39 |
+
"finger_l_joint3",
|
| 40 |
+
"finger_l_joint4",
|
| 41 |
+
"finger_l_joint5",
|
| 42 |
+
"finger_l_joint6",
|
| 43 |
+
"finger_l_joint7",
|
| 44 |
+
"finger_l_joint8",
|
| 45 |
+
"finger_l_joint9",
|
| 46 |
+
"finger_l_joint10",
|
| 47 |
+
"finger_l_joint11",
|
| 48 |
+
"finger_l_joint12",
|
| 49 |
+
"finger_l_joint13",
|
| 50 |
+
"finger_l_joint14",
|
| 51 |
+
"finger_l_joint15",
|
| 52 |
+
"finger_l_joint16",
|
| 53 |
+
"finger_l_joint17",
|
| 54 |
+
"finger_l_joint18",
|
| 55 |
+
"finger_l_joint19",
|
| 56 |
+
"finger_l_joint20",
|
| 57 |
+
"finger_r_joint1",
|
| 58 |
+
"finger_r_joint2",
|
| 59 |
+
"finger_r_joint3",
|
| 60 |
+
"finger_r_joint4",
|
| 61 |
+
"finger_r_joint5",
|
| 62 |
+
"finger_r_joint6",
|
| 63 |
+
"finger_r_joint7",
|
| 64 |
+
"finger_r_joint8",
|
| 65 |
+
"finger_r_joint9",
|
| 66 |
+
"finger_r_joint10",
|
| 67 |
+
"finger_r_joint11",
|
| 68 |
+
"finger_r_joint12",
|
| 69 |
+
"finger_r_joint13",
|
| 70 |
+
"finger_r_joint14",
|
| 71 |
+
"finger_r_joint15",
|
| 72 |
+
"finger_r_joint16",
|
| 73 |
+
"finger_r_joint17",
|
| 74 |
+
"finger_r_joint18",
|
| 75 |
+
"finger_r_joint19",
|
| 76 |
+
"finger_r_joint20",
|
| 77 |
+
"head_joint1",
|
| 78 |
+
"head_joint2",
|
| 79 |
+
"lift_joint"
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"action": {
|
| 83 |
+
"dtype": "float32",
|
| 84 |
+
"shape": [
|
| 85 |
+
57
|
| 86 |
+
],
|
| 87 |
+
"names": [
|
| 88 |
+
"arm_l_joint1",
|
| 89 |
+
"arm_l_joint2",
|
| 90 |
+
"arm_l_joint3",
|
| 91 |
+
"arm_l_joint4",
|
| 92 |
+
"arm_l_joint5",
|
| 93 |
+
"arm_l_joint6",
|
| 94 |
+
"arm_l_joint7",
|
| 95 |
+
"arm_r_joint1",
|
| 96 |
+
"arm_r_joint2",
|
| 97 |
+
"arm_r_joint3",
|
| 98 |
+
"arm_r_joint4",
|
| 99 |
+
"arm_r_joint5",
|
| 100 |
+
"arm_r_joint6",
|
| 101 |
+
"arm_r_joint7",
|
| 102 |
+
"finger_l_joint1",
|
| 103 |
+
"finger_l_joint2",
|
| 104 |
+
"finger_l_joint3",
|
| 105 |
+
"finger_l_joint4",
|
| 106 |
+
"finger_l_joint5",
|
| 107 |
+
"finger_l_joint6",
|
| 108 |
+
"finger_l_joint7",
|
| 109 |
+
"finger_l_joint8",
|
| 110 |
+
"finger_l_joint9",
|
| 111 |
+
"finger_l_joint10",
|
| 112 |
+
"finger_l_joint11",
|
| 113 |
+
"finger_l_joint12",
|
| 114 |
+
"finger_l_joint13",
|
| 115 |
+
"finger_l_joint14",
|
| 116 |
+
"finger_l_joint15",
|
| 117 |
+
"finger_l_joint16",
|
| 118 |
+
"finger_l_joint17",
|
| 119 |
+
"finger_l_joint18",
|
| 120 |
+
"finger_l_joint19",
|
| 121 |
+
"finger_l_joint20",
|
| 122 |
+
"finger_r_joint1",
|
| 123 |
+
"finger_r_joint2",
|
| 124 |
+
"finger_r_joint3",
|
| 125 |
+
"finger_r_joint4",
|
| 126 |
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{"episode_index": 0, "task_instruction": "pick the cub", "num_frames": 891, "duration_s": 88.99875978300008, "start_unix_time": 1790063040.923357, "fps": 10, "timing": {"period_target_ms": 100.0, "period_mean_ms": 99.99860649775289, "period_std_ms": 0.8177429753402918, "period_max_ms": 104.7234389999403, "period_min_ms": 94.79708800006392}, "stale_frame_count": 0, "skipped_stale_frames": 0, "late_ticks": 0, "dropped_frames": 0, "fallback_frames": {"head_cmd": 891, "hand_l_cmd": 891, "hand_r_cmd": 891, "arm_l_cmd": 891, "lift_cmd": 891, "arm_r_cmd": 891}, "topic_age_ms": {"joints": {"mean": 5.018, "max": 15.615}, "tips": {"mean": 3.566, "max": 14.746}, "cam_head": {"mean": 21.969, "max": 162.607}}, "system": {"temp_c": 49.2, "cpu_percent": 51.7, "mem_available_gb": 26.06, "disk_free_gb": 29.1}}
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{"episode_index": 1, "task_instruction": "pick the cub", "num_frames": 626, "duration_s": 62.500048455999945, "start_unix_time": 1790063216.2239873, "fps": 10, "timing": {"period_target_ms": 100.0, "period_mean_ms": 100.00007752959992, "period_std_ms": 1.6675264685622317, "period_max_ms": 118.40669299999718, "period_min_ms": 82.12958100000378}, "stale_frame_count": 0, "skipped_stale_frames": 0, "late_ticks": 0, "dropped_frames": 0, "fallback_frames": {"head_cmd": 626, "hand_l_cmd": 626, "hand_r_cmd": 626, "arm_l_cmd": 626, "lift_cmd": 626, "arm_r_cmd": 626}, "topic_age_ms": {"joints": {"mean": 5.167, "max": 18.624}, "tips": {"mean": 3.442, "max": 19.533}, "cam_head": {"mean": 20.56, "max": 78.616}}, "system": {"temp_c": 50.7, "cpu_percent": 58.1, "mem_available_gb": 25.98, "disk_free_gb": 29.1}}
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{"episode_index": 2, "task_instruction": "pick the cub", "num_frames": 34, "duration_s": 3.3001751169999807, "start_unix_time": 1790063287.3253431, "fps": 10, "timing": {"period_target_ms": 100.0, "period_mean_ms": 100.00530657575699, "period_std_ms": 0.9278781233404158, "period_max_ms": 102.0969700000478, "period_min_ms": 97.15424599994549}, "stale_frame_count": 0, "skipped_stale_frames": 0, "late_ticks": 0, "dropped_frames": 0, "fallback_frames": {"head_cmd": 34, "hand_l_cmd": 34, "hand_r_cmd": 34, "arm_l_cmd": 34, "lift_cmd": 34, "arm_r_cmd": 34}, "topic_age_ms": {"joints": {"mean": 4.719, "max": 7.027}, "tips": {"mean": 3.151, "max": 5.381}, "cam_head": {"mean": 23.095, "max": 76.079}}, "system": {"temp_c": 50.6, "cpu_percent": 60.7, "mem_available_gb": 25.98, "disk_free_gb": 29.1}}
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{"episode_index": 3, "task_instruction": "pick the cub", "num_frames": 70, "duration_s": 6.899549423000053, "start_unix_time": 1790063316.8230793, "fps": 10, "timing": {"period_target_ms": 100.0, "period_mean_ms": 99.9934698985515, "period_std_ms": 1.0064495530941278, "period_max_ms": 102.58849599995301, "period_min_ms": 97.12259799994172}, "stale_frame_count": 0, "skipped_stale_frames": 0, "late_ticks": 0, "dropped_frames": 0, "fallback_frames": {"head_cmd": 70, "hand_l_cmd": 70, "hand_r_cmd": 70, "arm_l_cmd": 70, "lift_cmd": 70, "arm_r_cmd": 70}, "topic_age_ms": {"joints": {"mean": 5.247, "max": 18.352}, "tips": {"mean": 3.387, "max": 12.212}, "cam_head": {"mean": 21.524, "max": 56.672}}, "system": {"temp_c": 50.9, "cpu_percent": 51.0, "mem_available_gb": 25.97, "disk_free_gb": 29.1}}
|
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{"episode_index": 4, "task_instruction": "pick the cub", "num_frames": 251, "duration_s": 24.999562295000032, "start_unix_time": 1790063332.5233839, "fps": 10, "timing": {"period_target_ms": 100.0, "period_mean_ms": 99.99824918000013, "period_std_ms": 1.037535488777631, "period_max_ms": 105.65618300006463, "period_min_ms": 94.81795300007434}, "stale_frame_count": 0, "skipped_stale_frames": 0, "late_ticks": 0, "dropped_frames": 0, "fallback_frames": {"head_cmd": 251, "hand_l_cmd": 251, "hand_r_cmd": 251, "arm_l_cmd": 251, "lift_cmd": 251, "arm_r_cmd": 251}, "topic_age_ms": {"joints": {"mean": 5.128, "max": 11.466}, "tips": {"mean": 3.435, "max": 10.465}, "cam_head": {"mean": 22.951, "max": 121.783}}, "system": {"temp_c": 51.0, "cpu_percent": 52.1, "mem_available_gb": 25.97, "disk_free_gb": 29.1}}
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