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Browse files- README.md +176 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000016.parquet +3 -0
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- data/chunk-000/episode_000861.parquet +3 -0
- data/chunk-000/episode_000915.parquet +3 -0
- data/chunk-000/episode_000925.parquet +3 -0
- meta/episodes.jsonl +1000 -0
- meta/episodes_stats.jsonl +0 -0
- meta/info.json +140 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.cam_head/episode_000484.mp4 +3 -0
- videos/chunk-000/observation.images.cam_head/episode_000556.mp4 +3 -0
- videos/chunk-000/observation.images.cam_head/episode_000769.mp4 +3 -0
- videos/chunk-000/observation.images.cam_head/episode_000897.mp4 +3 -0
README.md
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| 1 |
+
---
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| 2 |
+
license: apache-2.0
|
| 3 |
+
task_categories:
|
| 4 |
+
- robotics
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| 5 |
+
tags:
|
| 6 |
+
- robotis
|
| 7 |
+
- LeRobot
|
| 8 |
+
- FFW_SG2
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
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| 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 |
+
"total_episodes": 1000,
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| 29 |
+
"total_frames": 140703,
|
| 30 |
+
"total_videos": 1000,
|
| 31 |
+
"codebase_version": "v2.1",
|
| 32 |
+
"robot_type": "FFW_SG2",
|
| 33 |
+
"total_tasks": 1,
|
| 34 |
+
"total_chunks": 1,
|
| 35 |
+
"chunks_size": 1000,
|
| 36 |
+
"fps": 10,
|
| 37 |
+
"splits": {
|
| 38 |
+
"train": "0:1000"
|
| 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 |
+
"action": {
|
| 44 |
+
"dtype": "float32",
|
| 45 |
+
"shape": [
|
| 46 |
+
19
|
| 47 |
+
],
|
| 48 |
+
"names": [
|
| 49 |
+
"arm_l_joint1",
|
| 50 |
+
"arm_l_joint2",
|
| 51 |
+
"arm_l_joint3",
|
| 52 |
+
"arm_l_joint4",
|
| 53 |
+
"arm_l_joint5",
|
| 54 |
+
"arm_l_joint6",
|
| 55 |
+
"arm_l_joint7",
|
| 56 |
+
"gripper_l_joint1",
|
| 57 |
+
"arm_r_joint1",
|
| 58 |
+
"arm_r_joint2",
|
| 59 |
+
"arm_r_joint3",
|
| 60 |
+
"arm_r_joint4",
|
| 61 |
+
"arm_r_joint5",
|
| 62 |
+
"arm_r_joint6",
|
| 63 |
+
"arm_r_joint7",
|
| 64 |
+
"gripper_r_joint1",
|
| 65 |
+
"head_joint1",
|
| 66 |
+
"head_joint2",
|
| 67 |
+
"lift_joint"
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"observation.state": {
|
| 71 |
+
"dtype": "float32",
|
| 72 |
+
"shape": [
|
| 73 |
+
19
|
| 74 |
+
],
|
| 75 |
+
"names": [
|
| 76 |
+
"arm_l_joint1",
|
| 77 |
+
"arm_l_joint2",
|
| 78 |
+
"arm_l_joint3",
|
| 79 |
+
"arm_l_joint4",
|
| 80 |
+
"arm_l_joint5",
|
| 81 |
+
"arm_l_joint6",
|
| 82 |
+
"arm_l_joint7",
|
| 83 |
+
"gripper_l_joint1",
|
| 84 |
+
"arm_r_joint1",
|
| 85 |
+
"arm_r_joint2",
|
| 86 |
+
"arm_r_joint3",
|
| 87 |
+
"arm_r_joint4",
|
| 88 |
+
"arm_r_joint5",
|
| 89 |
+
"arm_r_joint6",
|
| 90 |
+
"arm_r_joint7",
|
| 91 |
+
"gripper_r_joint1",
|
| 92 |
+
"head_joint1",
|
| 93 |
+
"head_joint2",
|
| 94 |
+
"lift_joint"
|
| 95 |
+
]
|
| 96 |
+
},
|
| 97 |
+
"observation.images.cam_head": {
|
| 98 |
+
"dtype": "video",
|
| 99 |
+
"shape": [
|
| 100 |
+
376,
|
| 101 |
+
672,
|
| 102 |
+
3
|
| 103 |
+
],
|
| 104 |
+
"names": [
|
| 105 |
+
"height",
|
| 106 |
+
"width",
|
| 107 |
+
"channels"
|
| 108 |
+
],
|
| 109 |
+
"video_info": {
|
| 110 |
+
"video.height": 376,
|
| 111 |
+
"video.width": 672,
|
| 112 |
+
"video.codec": "libx264",
|
| 113 |
+
"video.pix_fmt": "yuv420p",
|
| 114 |
+
"video.is_depth_map": false,
|
| 115 |
+
"video.fps": 10,
|
| 116 |
+
"video.channels": 3,
|
| 117 |
+
"has_audio": false
|
| 118 |
+
},
|
| 119 |
+
"info": {
|
| 120 |
+
"video.height": 376,
|
| 121 |
+
"video.width": 672,
|
| 122 |
+
"video.codec": "av1",
|
| 123 |
+
"video.pix_fmt": "yuv420p",
|
| 124 |
+
"video.is_depth_map": false,
|
| 125 |
+
"video.fps": 10,
|
| 126 |
+
"video.channels": 3,
|
| 127 |
+
"has_audio": false
|
| 128 |
+
}
|
| 129 |
+
},
|
| 130 |
+
"timestamp": {
|
| 131 |
+
"dtype": "float32",
|
| 132 |
+
"shape": [
|
| 133 |
+
1
|
| 134 |
+
],
|
| 135 |
+
"names": null
|
| 136 |
+
},
|
| 137 |
+
"frame_index": {
|
| 138 |
+
"dtype": "int64",
|
| 139 |
+
"shape": [
|
| 140 |
+
1
|
| 141 |
+
],
|
| 142 |
+
"names": null
|
| 143 |
+
},
|
| 144 |
+
"episode_index": {
|
| 145 |
+
"dtype": "int64",
|
| 146 |
+
"shape": [
|
| 147 |
+
1
|
| 148 |
+
],
|
| 149 |
+
"names": null
|
| 150 |
+
},
|
| 151 |
+
"index": {
|
| 152 |
+
"dtype": "int64",
|
| 153 |
+
"shape": [
|
| 154 |
+
1
|
| 155 |
+
],
|
| 156 |
+
"names": null
|
| 157 |
+
},
|
| 158 |
+
"task_index": {
|
| 159 |
+
"dtype": "int64",
|
| 160 |
+
"shape": [
|
| 161 |
+
1
|
| 162 |
+
],
|
| 163 |
+
"names": null
|
| 164 |
+
}
|
| 165 |
+
}
|
| 166 |
+
}
|
| 167 |
+
```
|
| 168 |
+
|
| 169 |
+
|
| 170 |
+
## Citation
|
| 171 |
+
|
| 172 |
+
**BibTeX:**
|
| 173 |
+
|
| 174 |
+
```bibtex
|
| 175 |
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[More Information Needed]
|
| 176 |
+
```
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data/chunk-000/episode_000001.parquet
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version https://git-lfs.github.com/spec/v1
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data/chunk-000/episode_000016.parquet
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version https://git-lfs.github.com/spec/v1
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data/chunk-000/episode_000027.parquet
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data/chunk-000/episode_000045.parquet
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data/chunk-000/episode_000113.parquet
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version https://git-lfs.github.com/spec/v1
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data/chunk-000/episode_000138.parquet
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version https://git-lfs.github.com/spec/v1
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data/chunk-000/episode_000141.parquet
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version https://git-lfs.github.com/spec/v1
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data/chunk-000/episode_000171.parquet
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version https://git-lfs.github.com/spec/v1
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data/chunk-000/episode_000188.parquet
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data/chunk-000/episode_000199.parquet
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version https://git-lfs.github.com/spec/v1
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data/chunk-000/episode_000202.parquet
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version https://git-lfs.github.com/spec/v1
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data/chunk-000/episode_000213.parquet
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version https://git-lfs.github.com/spec/v1
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data/chunk-000/episode_000218.parquet
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version https://git-lfs.github.com/spec/v1
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|
| 1 |
+
{"episode_index":0,"tasks":["Put the yellow paint brush into the crate."],"length":129}
|
| 2 |
+
{"episode_index":1,"tasks":["Put the yellow paint brush into the crate."],"length":129}
|
| 3 |
+
{"episode_index":2,"tasks":["Put the yellow paint brush into the crate."],"length":129}
|
| 4 |
+
{"episode_index":3,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 5 |
+
{"episode_index":4,"tasks":["Put the yellow paint brush into the crate."],"length":139}
|
| 6 |
+
{"episode_index":5,"tasks":["Put the yellow paint brush into the crate."],"length":129}
|
| 7 |
+
{"episode_index":6,"tasks":["Put the yellow paint brush into the crate."],"length":139}
|
| 8 |
+
{"episode_index":7,"tasks":["Put the yellow paint brush into the crate."],"length":139}
|
| 9 |
+
{"episode_index":8,"tasks":["Put the yellow paint brush into the crate."],"length":129}
|
| 10 |
+
{"episode_index":9,"tasks":["Put the yellow paint brush into the crate."],"length":129}
|
| 11 |
+
{"episode_index":10,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 12 |
+
{"episode_index":11,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 13 |
+
{"episode_index":12,"tasks":["Put the yellow paint brush into the crate."],"length":139}
|
| 14 |
+
{"episode_index":13,"tasks":["Put the yellow paint brush into the crate."],"length":129}
|
| 15 |
+
{"episode_index":14,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 16 |
+
{"episode_index":15,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 17 |
+
{"episode_index":16,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 18 |
+
{"episode_index":17,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 19 |
+
{"episode_index":18,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 20 |
+
{"episode_index":19,"tasks":["Put the yellow paint brush into the crate."],"length":129}
|
| 21 |
+
{"episode_index":20,"tasks":["Put the yellow paint brush into the crate."],"length":139}
|
| 22 |
+
{"episode_index":21,"tasks":["Put the yellow paint brush into the crate."],"length":139}
|
| 23 |
+
{"episode_index":22,"tasks":["Put the yellow paint brush into the crate."],"length":139}
|
| 24 |
+
{"episode_index":23,"tasks":["Put the yellow paint brush into the crate."],"length":139}
|
| 25 |
+
{"episode_index":24,"tasks":["Put the yellow paint brush into the crate."],"length":129}
|
| 26 |
+
{"episode_index":25,"tasks":["Put the yellow paint brush into the crate."],"length":139}
|
| 27 |
+
{"episode_index":26,"tasks":["Put the yellow paint brush into the crate."],"length":139}
|
| 28 |
+
{"episode_index":27,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 29 |
+
{"episode_index":28,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 30 |
+
{"episode_index":29,"tasks":["Put the yellow paint brush into the crate."],"length":129}
|
| 31 |
+
{"episode_index":30,"tasks":["Put the yellow paint brush into the crate."],"length":139}
|
| 32 |
+
{"episode_index":31,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 33 |
+
{"episode_index":32,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 34 |
+
{"episode_index":33,"tasks":["Put the yellow paint brush into the crate."],"length":139}
|
| 35 |
+
{"episode_index":34,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 36 |
+
{"episode_index":35,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 37 |
+
{"episode_index":36,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 38 |
+
{"episode_index":37,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 39 |
+
{"episode_index":38,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 40 |
+
{"episode_index":39,"tasks":["Put the yellow paint brush into the crate."],"length":139}
|
| 41 |
+
{"episode_index":40,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 42 |
+
{"episode_index":41,"tasks":["Put the yellow paint brush into the crate."],"length":139}
|
| 43 |
+
{"episode_index":42,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 44 |
+
{"episode_index":43,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 45 |
+
{"episode_index":44,"tasks":["Put the yellow paint brush into the crate."],"length":139}
|
| 46 |
+
{"episode_index":45,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 47 |
+
{"episode_index":46,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 48 |
+
{"episode_index":47,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 49 |
+
{"episode_index":48,"tasks":["Put the yellow paint brush into the crate."],"length":129}
|
| 50 |
+
{"episode_index":49,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 51 |
+
{"episode_index":50,"tasks":["Put the yellow paint brush into the crate."],"length":129}
|
| 52 |
+
{"episode_index":51,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 53 |
+
{"episode_index":52,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 54 |
+
{"episode_index":53,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 55 |
+
{"episode_index":54,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 56 |
+
{"episode_index":55,"tasks":["Put the yellow paint brush into the crate."],"length":139}
|
| 57 |
+
{"episode_index":56,"tasks":["Put the yellow paint brush into the crate."],"length":129}
|
| 58 |
+
{"episode_index":57,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 59 |
+
{"episode_index":58,"tasks":["Put the yellow paint brush into the crate."],"length":129}
|
| 60 |
+
{"episode_index":59,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 61 |
+
{"episode_index":60,"tasks":["Put the yellow paint brush into the crate."],"length":130}
|
| 62 |
+
{"episode_index":61,"tasks":["Put the yellow paint brush into the crate."],"length":129}
|
| 63 |
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