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Browse files- meta/episodes.json +227 -0
- meta/info.json +142 -0
- meta/stats.json +550 -0
- meta/tasks.json +6 -0
meta/episodes.json
ADDED
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[
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{
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"episode_index": 0,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 1,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 2,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 3,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 4,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 5,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 6,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 7,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 8,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 9,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 10,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 11,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 12,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 13,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 14,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 15,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 16,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 17,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 18,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 19,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 20,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 21,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 22,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 23,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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},
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{
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"episode_index": 24,
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"tasks": [
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[
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"Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
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]
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],
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"length": 350
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}
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]
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meta/info.json
ADDED
@@ -0,0 +1,142 @@
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{
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"codebase_version": "v2.0",
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"data_path": "data/train-{episode_index:05d}-of-{total_episodes:05d}.parquet",
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4 |
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"robot_type": "aloha",
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5 |
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"total_episodes": 25,
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"total_frames": 8750,
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"total_tasks": 1,
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"fps": 50,
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9 |
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"splits": {
|
10 |
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"train": "0:25"
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},
|
12 |
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"keys": [
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13 |
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"observation.state",
|
14 |
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"observation.effort",
|
15 |
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"action"
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16 |
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],
|
17 |
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"video_keys": [
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18 |
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"observation.images.cam_high",
|
19 |
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"observation.images.cam_left_wrist",
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"observation.images.cam_low",
|
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"observation.images.cam_right_wrist"
|
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],
|
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"image_keys": [],
|
24 |
+
"shapes": {
|
25 |
+
"observation.state": 14,
|
26 |
+
"observation.effort": 14,
|
27 |
+
"action": 14,
|
28 |
+
"observation.images.cam_high": {
|
29 |
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"width": 640,
|
30 |
+
"height": 480,
|
31 |
+
"channels": 3
|
32 |
+
},
|
33 |
+
"observation.images.cam_left_wrist": {
|
34 |
+
"width": 640,
|
35 |
+
"height": 480,
|
36 |
+
"channels": 3
|
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+
},
|
38 |
+
"observation.images.cam_low": {
|
39 |
+
"width": 640,
|
40 |
+
"height": 480,
|
41 |
+
"channels": 3
|
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+
},
|
43 |
+
"observation.images.cam_right_wrist": {
|
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"width": 640,
|
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+
"height": 480,
|
46 |
+
"channels": 3
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}
|
48 |
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},
|
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"names": {
|
50 |
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"observation.state": [
|
51 |
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"left_waist",
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52 |
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"left_shoulder",
|
53 |
+
"left_elbow",
|
54 |
+
"left_forearm_roll",
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55 |
+
"left_wrist_angle",
|
56 |
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"left_wrist_rotate",
|
57 |
+
"left_gripper",
|
58 |
+
"right_waist",
|
59 |
+
"right_shoulder",
|
60 |
+
"right_elbow",
|
61 |
+
"right_forearm_roll",
|
62 |
+
"right_wrist_angle",
|
63 |
+
"right_wrist_rotate",
|
64 |
+
"right_gripper"
|
65 |
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],
|
66 |
+
"action": [
|
67 |
+
"left_waist",
|
68 |
+
"left_shoulder",
|
69 |
+
"left_elbow",
|
70 |
+
"left_forearm_roll",
|
71 |
+
"left_wrist_angle",
|
72 |
+
"left_wrist_rotate",
|
73 |
+
"left_gripper",
|
74 |
+
"right_waist",
|
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+
"right_shoulder",
|
76 |
+
"right_elbow",
|
77 |
+
"right_forearm_roll",
|
78 |
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"right_wrist_angle",
|
79 |
+
"right_wrist_rotate",
|
80 |
+
"right_gripper"
|
81 |
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],
|
82 |
+
"observation.effort": [
|
83 |
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"left_waist",
|
84 |
+
"left_shoulder",
|
85 |
+
"left_elbow",
|
86 |
+
"left_forearm_roll",
|
87 |
+
"left_wrist_angle",
|
88 |
+
"left_wrist_rotate",
|
89 |
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"left_gripper",
|
90 |
+
"right_waist",
|
91 |
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"right_shoulder",
|
92 |
+
"right_elbow",
|
93 |
+
"right_forearm_roll",
|
94 |
+
"right_wrist_angle",
|
95 |
+
"right_wrist_rotate",
|
96 |
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"right_gripper"
|
97 |
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]
|
98 |
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},
|
99 |
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"videos": {
|
100 |
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"videos_path": "videos/{video_key}_episode_{episode_index:06d}.mp4",
|
101 |
+
"observation.images.cam_high": {
|
102 |
+
"video.fps": 50.0,
|
103 |
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"video.width": 640,
|
104 |
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"video.height": 480,
|
105 |
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meta/tasks.json
ADDED
@@ -0,0 +1,6 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
[
|
2 |
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{
|
3 |
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"task_index": 0,
|
4 |
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"task": "Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table."
|
5 |
+
}
|
6 |
+
]
|