Hugging Face's logo

Datasets:
learner1119
/
rilab_pick_cup

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
robotis
LeRobot
ffw_sg2_rev1
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
learner1119 commited on
Commit
2ddef6e
·
verified ·
1 Parent(s): a942d7a

Add files using upload-large-folder tool

Browse files
Files changed (13) hide show
  1. README.md +190 -0
  2. data/chunk-000/episode_000000.parquet +3 -0
  3. data/chunk-000/episode_000001.parquet +3 -0
  4. meta/episodes.jsonl +2 -0
  5. meta/episodes_stats.jsonl +2 -0
  6. meta/info.json +154 -0
  7. meta/tasks.jsonl +1 -0
  8. videos/chunk-000/observation.images.cam_head/episode_000000.mp4 +3 -0
  9. videos/chunk-000/observation.images.cam_head/episode_000001.mp4 +3 -0
  10. videos/chunk-000/observation.images.cam_wrist_left/episode_000000.mp4 +3 -0
  11. videos/chunk-000/observation.images.cam_wrist_left/episode_000001.mp4 +3 -0
  12. videos/chunk-000/observation.images.cam_wrist_right/episode_000000.mp4 +3 -0
  13. videos/chunk-000/observation.images.cam_wrist_right/episode_000001.mp4 +3 -0
README.md ADDED
@@ -0,0 +1,190 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - robotis
7
+ - LeRobot
8
+ - ffw_sg2_rev1
9
+ configs:
10
+ - config_name: default
11
+ data_files: data/*/*.parquet
12
+ ---
13
+
14
+ This dataset was created using [Physical AI Tools](https://github.com/ROBOTIS-GIT/physical_ai_tools) and [LeRobot](https://github.com/huggingface/lerobot).
15
+
16
+ ## Dataset Description
17
+
18
+
19
+
20
+ - **Homepage:** [More Information Needed]
21
+ - **License:** apache-2.0
22
+
23
+ ## Dataset Structure
24
+
25
+ [meta/info.json](meta/info.json):
26
+ ```json
27
+ {
28
+ "codebase_version": "v2.1",
29
+ "robot_type": "ffw_sg2_rev1",
30
+ "total_episodes": 2,
31
+ "total_frames": 102,
32
+ "total_tasks": 1,
33
+ "total_videos": 6,
34
+ "total_chunks": 1,
35
+ "chunks_size": 1000,
36
+ "fps": 10,
37
+ "splits": {
38
+ "train": "0:2"
39
+ },
40
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
41
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
42
+ "features": {
43
+ "observation.state": {
44
+ "dtype": "float32",
45
+ "names": [
46
+ "arm_l_joint1",
47
+ "arm_l_joint2",
48
+ "arm_l_joint3",
49
+ "arm_l_joint4",
50
+ "arm_l_joint5",
51
+ "arm_l_joint6",
52
+ "arm_l_joint7",
53
+ "gripper_l_joint1"
54
+ ],
55
+ "shape": [
56
+ 8
57
+ ]
58
+ },
59
+ "action": {
60
+ "dtype": "float32",
61
+ "names": [
62
+ "arm_l_joint1",
63
+ "arm_l_joint2",
64
+ "arm_l_joint3",
65
+ "arm_l_joint4",
66
+ "arm_l_joint5",
67
+ "arm_l_joint6",
68
+ "arm_l_joint7",
69
+ "gripper_l_joint1"
70
+ ],
71
+ "shape": [
72
+ 8
73
+ ]
74
+ },
75
+ "observation.images.cam_head": {
76
+ "dtype": "video",
77
+ "names": [
78
+ "height",
79
+ "width",
80
+ "channels"
81
+ ],
82
+ "shape": [
83
+ 376,
84
+ 672,
85
+ 3
86
+ ],
87
+ "info": {
88
+ "video.height": 376,
89
+ "video.width": 672,
90
+ "video.codec": "av1",
91
+ "video.pix_fmt": "yuv420p",
92
+ "video.is_depth_map": false,
93
+ "video.fps": 10,
94
+ "video.channels": 3,
95
+ "has_audio": false
96
+ }
97
+ },
98
+ "observation.images.cam_wrist_left": {
99
+ "dtype": "video",
100
+ "names": [
101
+ "height",
102
+ "width",
103
+ "channels"
104
+ ],
105
+ "shape": [
106
+ 240,
107
+ 424,
108
+ 3
109
+ ],
110
+ "info": {
111
+ "video.height": 240,
112
+ "video.width": 424,
113
+ "video.codec": "av1",
114
+ "video.pix_fmt": "yuv420p",
115
+ "video.is_depth_map": false,
116
+ "video.fps": 10,
117
+ "video.channels": 3,
118
+ "has_audio": false
119
+ }
120
+ },
121
+ "observation.images.cam_wrist_right": {
122
+ "dtype": "video",
123
+ "names": [
124
+ "height",
125
+ "width",
126
+ "channels"
127
+ ],
128
+ "shape": [
129
+ 240,
130
+ 424,
131
+ 3
132
+ ],
133
+ "info": {
134
+ "video.height": 240,
135
+ "video.width": 424,
136
+ "video.codec": "av1",
137
+ "video.pix_fmt": "yuv420p",
138
+ "video.is_depth_map": false,
139
+ "video.fps": 10,
140
+ "video.channels": 3,
141
+ "has_audio": false
142
+ }
143
+ },
144
+ "timestamp": {
145
+ "dtype": "float32",
146
+ "shape": [
147
+ 1
148
+ ],
149
+ "names": null
150
+ },
151
+ "frame_index": {
152
+ "dtype": "int64",
153
+ "shape": [
154
+ 1
155
+ ],
156
+ "names": null
157
+ },
158
+ "episode_index": {
159
+ "dtype": "int64",
160
+ "shape": [
161
+ 1
162
+ ],
163
+ "names": null
164
+ },
165
+ "index": {
166
+ "dtype": "int64",
167
+ "shape": [
168
+ 1
169
+ ],
170
+ "names": null
171
+ },
172
+ "task_index": {
173
+ "dtype": "int64",
174
+ "shape": [
175
+ 1
176
+ ],
177
+ "names": null
178
+ }
179
+ }
180
+ }
181
+ ```
182
+
183
+
184
+ ## Citation
185
+
186
+ **BibTeX:**
187
+
188
+ ```bibtex
189
+ [More Information Needed]
190
+ ```
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5435f5f6ad88e956764756ccca36dcc4361eb1af230b4f5069bfaf14da18dd18
3
+ size 4707
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4a707d0f779715532e119647291fa4e0f54fb63513010ec18d8b3c536d1a7169
3
+ size 4717
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["pick the cup"], "length": 51}
2
+ {"episode_index": 1, "tasks": ["pick the cup"], "length": 51}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"observation.state": {"min": [1.32998526096344, 0.0, 0.0, -1.959995985031128, 0.0, -0.929999828338623, 0.0, 0.0], "max": [1.3299973011016846, 0.0, 0.0, -1.9599840641021729, 0.0, -0.9299878478050232, 0.0, 0.0], "mean": [1.3299936056137085, 0.0, 0.0, -1.9599932432174683, 0.0, -0.9299975633621216, 0.0, 0.0], "std": [5.684671123162843e-06, 0.0, 0.0, 5.34631135451491e-06, 0.0, 4.937883204547688e-06, 0.0, 0.0], "count": [51]}, "action": {"min": [1.32998526096344, 0.0, 0.0, -1.959995985031128, 0.0, -0.929999828338623, 0.0, 0.0], "max": [1.3299973011016846, 0.0, 0.0, -1.9599840641021729, 0.0, -0.9299878478050232, 0.0, 0.0], "mean": [1.3299936056137085, 0.0, 0.0, -1.9599932432174683, 0.0, -0.9299975633621216, 0.0, 0.0], "std": [5.684671123162843e-06, 0.0, 0.0, 5.34631135451491e-06, 0.0, 4.937883204547688e-06, 0.0, 0.0], "count": [51]}, "observation.images.cam_head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42796854592205397]], [[0.43569084079188625]], [[0.42674722858132264]]], "std": [[[0.3654517099618212]], [[0.3692752323224369]], [[0.3640648870332787]]], "count": [51]}, "observation.images.cam_wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43683369543402517]], [[0.4546513647387676]], [[0.42513446993052983]]], "std": [[[0.3026552353068113]], [[0.2946123289486826]], [[0.2994540353620934]]], "count": [51]}, "observation.images.cam_wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4355820572155364]], [[0.46566270773940355]], [[0.42286263870451374]]], "std": [[[0.3352351430515416]], [[0.329861184687256]], [[0.32777543663961134]]], "count": [51]}, "timestamp": {"min": [0.0], "max": [5.0], "mean": [2.5], "std": [1.4719601443879744], "count": [51]}, "frame_index": {"min": [0], "max": [50], "mean": [25.0], "std": [14.719601443879744], "count": [51]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [51]}, "index": {"min": [0], "max": [50], "mean": [25.0], "std": [14.719601443879744], "count": [51]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [51]}}}
2
+ {"episode_index": 1, "stats": {"observation.state": {"min": [1.32998526096344, 0.0, 0.0, -1.959995985031128, 0.0, -0.929999828338623, 0.0, 0.0], "max": [1.3299973011016846, 0.0, 0.0, -1.9599840641021729, 0.0, -0.9299878478050232, 0.0, 0.0], "mean": [1.3299952745437622, 0.0, 0.0, -1.9599924087524414, 0.0, -0.9299967288970947, 0.0, 0.0], "std": [4.791950686922064e-06, 0.0, 0.0, 5.73167972106603e-06, 0.0, 5.349867024051491e-06, 0.0, 0.0], "count": [51]}, "action": {"min": [1.32998526096344, 0.0, 0.0, -1.959995985031128, 0.0, -0.929999828338623, 0.0, 0.0], "max": [1.3299973011016846, 0.0, 0.0, -1.9599840641021729, 0.0, -0.9299878478050232, 0.0, 0.0], "mean": [1.3299952745437622, 0.0, 0.0, -1.9599924087524414, 0.0, -0.9299967288970947, 0.0, 0.0], "std": [4.791950686922064e-06, 0.0, 0.0, 5.73167972106603e-06, 0.0, 5.349867024051491e-06, 0.0, 0.0], "count": [51]}, "observation.images.cam_head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4285637207184361]], [[0.4362719194199721]], [[0.4272911166969917]]], "std": [[[0.366842078726242]], [[0.37077257385280826]], [[0.3655972703325897]]], "count": [51]}, "observation.images.cam_wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43692735498441576]], [[0.45477132343873544]], [[0.42525616961546]]], "std": [[[0.30263827482517963]], [[0.29466084966899486]], [[0.299330001226907]]], "count": [51]}, "observation.images.cam_wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43619441240548507]], [[0.4664572618417203]], [[0.4236097267862627]]], "std": [[[0.33532785348567035]], [[0.3300080440897663]], [[0.3278572084720698]]], "count": [51]}, "timestamp": {"min": [0.0], "max": [5.0], "mean": [2.5], "std": [1.4719601443879744], "count": [51]}, "frame_index": {"min": [0], "max": [50], "mean": [25.0], "std": [14.719601443879744], "count": [51]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [51]}, "index": {"min": [51], "max": [101], "mean": [76.0], "std": [14.719601443879744], "count": [51]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [51]}}}
meta/info.json ADDED
@@ -0,0 +1,154 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "ffw_sg2_rev1",
4
+ "total_episodes": 2,
5
+ "total_frames": 102,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 10,
11
+ "splits": {
12
+ "train": "0:2"
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
+ "names": [
20
+ "arm_l_joint1",
21
+ "arm_l_joint2",
22
+ "arm_l_joint3",
23
+ "arm_l_joint4",
24
+ "arm_l_joint5",
25
+ "arm_l_joint6",
26
+ "arm_l_joint7",
27
+ "gripper_l_joint1"
28
+ ],
29
+ "shape": [
30
+ 8
31
+ ]
32
+ },
33
+ "action": {
34
+ "dtype": "float32",
35
+ "names": [
36
+ "arm_l_joint1",
37
+ "arm_l_joint2",
38
+ "arm_l_joint3",
39
+ "arm_l_joint4",
40
+ "arm_l_joint5",
41
+ "arm_l_joint6",
42
+ "arm_l_joint7",
43
+ "gripper_l_joint1"
44
+ ],
45
+ "shape": [
46
+ 8
47
+ ]
48
+ },
49
+ "observation.images.cam_head": {
50
+ "dtype": "video",
51
+ "names": [
52
+ "height",
53
+ "width",
54
+ "channels"
55
+ ],
56
+ "shape": [
57
+ 376,
58
+ 672,
59
+ 3
60
+ ],
61
+ "info": {
62
+ "video.height": 376,
63
+ "video.width": 672,
64
+ "video.codec": "av1",
65
+ "video.pix_fmt": "yuv420p",
66
+ "video.is_depth_map": false,
67
+ "video.fps": 10,
68
+ "video.channels": 3,
69
+ "has_audio": false
70
+ }
71
+ },
72
+ "observation.images.cam_wrist_left": {
73
+ "dtype": "video",
74
+ "names": [
75
+ "height",
76
+ "width",
77
+ "channels"
78
+ ],
79
+ "shape": [
80
+ 240,
81
+ 424,
82
+ 3
83
+ ],
84
+ "info": {
85
+ "video.height": 240,
86
+ "video.width": 424,
87
+ "video.codec": "av1",
88
+ "video.pix_fmt": "yuv420p",
89
+ "video.is_depth_map": false,
90
+ "video.fps": 10,
91
+ "video.channels": 3,
92
+ "has_audio": false
93
+ }
94
+ },
95
+ "observation.images.cam_wrist_right": {
96
+ "dtype": "video",
97
+ "names": [
98
+ "height",
99
+ "width",
100
+ "channels"
101
+ ],
102
+ "shape": [
103
+ 240,
104
+ 424,
105
+ 3
106
+ ],
107
+ "info": {
108
+ "video.height": 240,
109
+ "video.width": 424,
110
+ "video.codec": "av1",
111
+ "video.pix_fmt": "yuv420p",
112
+ "video.is_depth_map": false,
113
+ "video.fps": 10,
114
+ "video.channels": 3,
115
+ "has_audio": false
116
+ }
117
+ },
118
+ "timestamp": {
119
+ "dtype": "float32",
120
+ "shape": [
121
+ 1
122
+ ],
123
+ "names": null
124
+ },
125
+ "frame_index": {
126
+ "dtype": "int64",
127
+ "shape": [
128
+ 1
129
+ ],
130
+ "names": null
131
+ },
132
+ "episode_index": {
133
+ "dtype": "int64",
134
+ "shape": [
135
+ 1
136
+ ],
137
+ "names": null
138
+ },
139
+ "index": {
140
+ "dtype": "int64",
141
+ "shape": [
142
+ 1
143
+ ],
144
+ "names": null
145
+ },
146
+ "task_index": {
147
+ "dtype": "int64",
148
+ "shape": [
149
+ 1
150
+ ],
151
+ "names": null
152
+ }
153
+ }
154
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "pick the cup"}
videos/chunk-000/observation.images.cam_head/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d785eaa74fbb2c2f58fcf9ca50e001f0077c3a7430247899911b2a3b57690f15
3
+ size 304873
videos/chunk-000/observation.images.cam_head/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:41a8c5665415a1c2870e17471678dc52f0ad581a0501f0c265cea6363023c276
3
+ size 306209
videos/chunk-000/observation.images.cam_wrist_left/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:83c1204fcac3b1f4c6cf355031db4eec47ede4b1ab9b428a8446043071c8e96a
3
+ size 339554
videos/chunk-000/observation.images.cam_wrist_left/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3542d30064724f9f393146ca06461ec3ce0482762ff7a75051668437bc3d1f1b
3
+ size 339809
videos/chunk-000/observation.images.cam_wrist_right/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e5aa4dfd52226f480ae85f1e15789b30eff52233cb7da006dc74c3aa88bb6776
3
+ size 386681
videos/chunk-000/observation.images.cam_wrist_right/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9f0ae2c31da3097537a572aaff667e276112ba14a755bbeda21dbedaec9a0c49
3
+ size 386309