Upgrade dataset from LeRobot v2.1 to v3.0
Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +176 -166
- meta/stats.json +172 -172
- meta/tasks.parquet +3 -0
- videos/observation.images.center_camera/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.left_camera/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.right_camera/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 sha256:0d85f2a99d448eca440f980ea64e46da69972fa69002f7df413ffb7cdb74f5e9
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size 730527
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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:ce509796402bfb55834fabd9682802e37a3eeca7306c20d1a913292d12803ecd
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size 13534
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meta/info.json
CHANGED
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@@ -1,170 +1,180 @@
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{
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},
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"data_path": "data/chunk-{chunk_index:03d}/episode_{episode_index:06d}.parquet",
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"video_path": "videos/chunk-{chunk_index:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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"features": {
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"observation.state": {
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"dtype": "float32",
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"shape": [
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31
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],
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"names": [
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"tcp_pose.position.x",
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"tcp_pose.position.y",
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"tcp_pose.position.z",
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"tcp_pose.orientation.x",
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"tcp_pose.orientation.y",
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"tcp_pose.orientation.z",
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"tcp_pose.orientation.w",
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"tcp_velocity.linear.x",
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"tcp_velocity.linear.y",
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"tcp_velocity.linear.z",
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"tcp_velocity.angular.x",
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"tcp_velocity.angular.y",
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"tcp_velocity.angular.z",
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"tcp_error.x",
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"tcp_error.y",
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"tcp_error.z",
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"tcp_error.rx",
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"tcp_error.ry",
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"tcp_error.rz",
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"joint_positions.0",
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"joint_positions.1",
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"joint_positions.2",
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"joint_positions.3",
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"joint_positions.4",
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"joint_positions.5",
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"wrench.force.x",
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"wrench.force.y",
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"wrench.force.z",
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"wrench.torque.x",
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"wrench.torque.y",
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"wrench.torque.z"
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]
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},
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"
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"has_audio": false
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}
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}
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{
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"codebase_version": "v3.0",
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"robot_type": "ur5e_aic",
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"total_episodes": 5,
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"total_frames": 3370,
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"fps": 20,
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"splits": {
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"train": "0:5"
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},
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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"features": {
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"observation.state": {
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"dtype": "float32",
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31
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],
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"names": [
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"tcp_pose.position.x",
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"tcp_pose.position.y",
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| 21 |
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"tcp_pose.position.z",
|
| 22 |
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"tcp_pose.orientation.x",
|
| 23 |
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"tcp_pose.orientation.y",
|
| 24 |
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"tcp_pose.orientation.z",
|
| 25 |
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"tcp_pose.orientation.w",
|
| 26 |
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"tcp_velocity.linear.x",
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| 27 |
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"tcp_velocity.linear.y",
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| 28 |
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"tcp_velocity.linear.z",
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| 29 |
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"tcp_velocity.angular.x",
|
| 30 |
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"tcp_velocity.angular.y",
|
| 31 |
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"tcp_velocity.angular.z",
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| 32 |
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"tcp_error.x",
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| 33 |
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"tcp_error.y",
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| 34 |
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"tcp_error.z",
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| 35 |
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"tcp_error.rx",
|
| 36 |
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"tcp_error.ry",
|
| 37 |
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"tcp_error.rz",
|
| 38 |
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"joint_positions.0",
|
| 39 |
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"joint_positions.1",
|
| 40 |
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"joint_positions.2",
|
| 41 |
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"joint_positions.3",
|
| 42 |
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"joint_positions.4",
|
| 43 |
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"joint_positions.5",
|
| 44 |
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"wrench.force.x",
|
| 45 |
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"wrench.force.y",
|
| 46 |
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"wrench.force.z",
|
| 47 |
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"wrench.torque.x",
|
| 48 |
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"wrench.torque.y",
|
| 49 |
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"wrench.torque.z"
|
| 50 |
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],
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| 52 |
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},
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