Hugging Face's logo

Datasets:
EfreetSultan
/
fourth_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
EfreetSultan commited on
Commit
6644711
·
verified ·
1 Parent(s): 3261c76

Upload folder using huggingface_hub

Browse files
Files changed (7) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. meta/crisp_meta.json +78 -0
  3. meta/episodes.jsonl +1 -0
  4. meta/episodes_stats.jsonl +1 -0
  5. meta/info.json +178 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.right_third_person_camera_top_right/episode_000000.mp4 +3 -0
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0db4415a75c05263d66a9a7ee2caee80d37d9d21237df621356db9938b73cb0e
3
+ size 136290
meta/crisp_meta.json ADDED
@@ -0,0 +1,78 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "crisp_gym_version": "4.1.0",
3
+ "crisp_py_version": "3.0.0",
4
+ "control_type": "CARTESIAN",
5
+ "env_config": {
6
+ "robot_config": {
7
+ "joint_names": [
8
+ "fr3_joint1",
9
+ "fr3_joint2",
10
+ "fr3_joint3",
11
+ "fr3_joint4",
12
+ "fr3_joint5",
13
+ "fr3_joint6",
14
+ "fr3_joint7"
15
+ ],
16
+ "home_config": [
17
+ -0.017396011,
18
+ 0.0955319758,
19
+ 0.000809703053,
20
+ -1.94272034,
21
+ -0.00401435784,
22
+ 2.06584183,
23
+ 0.797426445
24
+ ],
25
+ "base_frame": "base",
26
+ "target_frame": "fr3_hand_tcp",
27
+ "default_controller": "cartesian_impedance_controller",
28
+ "cartesian_impedance_controller_name": "cartesian_impedance_controller",
29
+ "joint_trajectory_controller_name": "joint_impedance_controller",
30
+ "target_pose_topic": "target_pose",
31
+ "target_joint_topic": "target_joint",
32
+ "current_pose_topic": "current_pose",
33
+ "current_joint_topic": "joint_states",
34
+ "current_twist_topic": "current_twist",
35
+ "publish_frequency": 50.0,
36
+ "time_to_home": 2.0,
37
+ "max_pose_delay": 1.0,
38
+ "max_joint_delay": 1.0,
39
+ "use_tf_pose": false,
40
+ "tf_retrieve_rate": 50.0,
41
+ "use_prefix": false
42
+ },
43
+ "gripper_config": {
44
+ "min_value": 1023.0,
45
+ "max_value": 2069.0,
46
+ "command_topic": "/right/gripper/dynamixel_motor/command",
47
+ "joint_state_topic": "/right/gripper/dynamixel_motor/joint_states",
48
+ "reboot_service": "reboot_gripper",
49
+ "enable_torque_service": "/right/gripper/dynamixel_motor/set_torque",
50
+ "index": 0,
51
+ "publish_frequency": 30.0,
52
+ "max_joint_delay": 1.0,
53
+ "max_delta": 0.125
54
+ },
55
+ "camera_config": [
56
+ {
57
+ "camera_color_image_topic": "right_third_person_camera_top_right/color/image_raw",
58
+ "camera_color_info_topic": "right_third_person_camera_top_right/color/camera_info",
59
+ "camera_name": "right_third_person_camera_top_right",
60
+ "camera_frame": "primary_link",
61
+ "max_image_delay": 1.0,
62
+ "resolution": [
63
+ 256,
64
+ 256
65
+ ],
66
+ "crop_width": null,
67
+ "crop_height": null
68
+ }
69
+ ],
70
+ "sensor_config": [],
71
+ "gripper_mode": "GripperMode.ABSOLUTE_CONTINUOUS",
72
+ "gripper_threshold": 0.1,
73
+ "cartesian_control_param_config": "None",
74
+ "joint_control_param_config": "None",
75
+ "orientation_representation": "OrientationRepresentation.EULER",
76
+ "use_relative_actions": true
77
+ }
78
+ }
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["pick the lego block."], "length": 502}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "stats": {"observation.images.right_third_person_camera_top_right": {"min": [[[0.00392156862745098]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[0.996078431372549]], [[1.0]], [[0.984313725490196]]], "mean": [[[0.5553533527968417]], [[0.5855396565710047]], [[0.5452236507188556]]], "std": [[[0.21243573158249335]], [[0.20594893326311542]], [[0.20448651487001882]]], "count": [106]}, "observation.state.cartesian": {"min": [0.3314592242240906, -0.18357615172863007, 0.08446813374757767, 3.079890012741089, -0.04763100668787956, -0.3854561746120453], "max": [0.6323779225349426, -0.011685673147439957, 0.33679020404815674, 3.135791301727295, 0.6808577179908752, -0.013453779742121696], "mean": [0.5248510241508484, -0.05931912362575531, 0.18423329293727875, 3.1252546310424805, 0.28850576281547546, -0.11895930022001266], "std": [0.08513737469911575, 0.05179791525006294, 0.08477448672056198, 0.015118376351892948, 0.20301257073879242, 0.13386662304401398], "count": [502]}, "observation.state.gripper": {"min": [0.009560229256749153], "max": [0.7495219707489014], "mean": [0.06513715535402298], "std": [0.11333572119474411], "count": [502]}, "observation.state.joints": {"min": [-0.21384458243846893, 0.03250638023018837, -0.16338300704956055, -2.3904216289520264, -0.012703482061624527, 1.7863796949386597, 0.7719584703445435], "max": [-0.017991963773965836, 0.5788211822509766, 0.010938978753983974, -1.8234646320343018, -0.009159961715340614, 2.181609630584717, 0.7870643734931946], "mean": [-0.08387810736894608, 0.3193136751651764, -0.040660083293914795, -1.995488166809082, -0.011158906854689121, 2.0259528160095215, 0.7819427251815796], "std": [0.06968963146209717, 0.18149404227733612, 0.060445528477430344, 0.16517789661884308, 0.0011530177434906363, 0.10516525059938431, 0.0024633524008095264], "count": [502]}, "observation.state.target": {"min": [0.33498749136924744, -0.1802721917629242, 0.07186079770326614, 3.0428874492645264, -0.03884923830628395, -0.39575204253196716], "max": [0.6387959718704224, -0.011673727072775364, 0.33650535345077515, 3.135451555252075, 0.7200796604156494, -0.014341183938086033], "mean": [0.5287827849388123, -0.0584339015185833, 0.17860913276672363, 3.118262529373169, 0.30178937315940857, -0.12273039668798447], "std": [0.08504527807235718, 0.052145324647426605, 0.08748795092105865, 0.022068683058023453, 0.20506836473941803, 0.13634079694747925], "count": [502]}, "observation.state": {"min": [0.3314592242240906, -0.18357615172863007, 0.08446813374757767, 3.079890012741089, -0.04763100668787956, -0.3854561746120453, 0.009560229256749153, -0.21384458243846893, 0.03250638023018837, -0.16338300704956055, -2.3904216289520264, -0.012703482061624527, 1.7863796949386597, 0.7719584703445435, 0.33498749136924744, -0.1802721917629242, 0.07186079770326614, 3.0428874492645264, -0.03884923830628395, -0.39575204253196716], "max": [0.6323779225349426, -0.011685673147439957, 0.33679020404815674, 3.135791301727295, 0.6808577179908752, -0.013453779742121696, 0.7495219707489014, -0.017991963773965836, 0.5788211822509766, 0.010938978753983974, -1.8234646320343018, -0.009159961715340614, 2.181609630584717, 0.7870643734931946, 0.6387959718704224, -0.011673727072775364, 0.33650535345077515, 3.135451555252075, 0.7200796604156494, -0.014341183938086033], "mean": [0.5248510241508484, -0.05931912362575531, 0.18423329293727875, 3.1252546310424805, 0.28850576281547546, -0.11895930022001266, 0.06513712555170059, -0.08387810736894608, 0.3193136751651764, -0.040660083293914795, -1.995488166809082, -0.011158906854689121, 2.0259528160095215, 0.7819427251815796, 0.5287827849388123, -0.0584339015185833, 0.17860913276672363, 3.118262529373169, 0.30178937315940857, -0.12273039668798447], "std": [0.08513737469911575, 0.05179791525006294, 0.08477448672056198, 0.015118376351892948, 0.20301257073879242, 0.13386662304401398, 0.11333542317152023, 0.06968963146209717, 0.18149404227733612, 0.060445528477430344, 0.16517789661884308, 0.0011530177434906363, 0.10516525059938431, 0.0024633524008095264, 0.08504527807235718, 0.052145324647426605, 0.08748795092105865, 0.022068683058023453, 0.20506836473941803, 0.13634079694747925], "count": [502]}, "action": {"min": [-0.014940682798624039, -0.020756898447871208, -0.02569182775914669, -0.013678152114152908, -0.07222983986139297, -0.035483334213495255, 0.24337585270404816], "max": [0.01731216348707676, 0.00930634792894125, 0.027942508459091187, 0.010139907710254192, 0.04857086390256882, 0.01627328060567379, 1.0], "mean": [-0.0003438978746999055, -0.0002571804798208177, -0.0001834661525208503, 0.0001272685476578772, 0.0009046478080563247, -0.0006026802584528923, 0.9208762645721436], "std": [0.0031076993327587843, 0.0026243135798722506, 0.0055239335633814335, 0.0018705700058490038, 0.01068663690239191, 0.004615901503711939, 0.12978920340538025], "count": [502]}, "timestamp": {"min": [0.0], "max": [100.2], "mean": [50.099999999999994], "std": [28.982926008255273], "count": [502]}, "frame_index": {"min": [0], "max": [501], "mean": [250.5], "std": [144.91463004127638], "count": [502]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [502]}, "index": {"min": [0], "max": [501], "mean": [250.5], "std": [144.91463004127638], "count": [502]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [502]}}}
meta/info.json ADDED
@@ -0,0 +1,178 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "franka",
4
+ "total_episodes": 1,
5
+ "total_frames": 502,
6
+ "total_tasks": 1,
7
+ "total_videos": 1,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 5,
11
+ "splits": {
12
+ "train": "0:1"
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.images.right_third_person_camera_top_right": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 256,
21
+ 256,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channels"
28
+ ],
29
+ "video_info": {
30
+ "video.fps": 30.0,
31
+ "video.codec": "av1",
32
+ "video.pix_fmt": "yuv420p",
33
+ "video.is_depth_map": false,
34
+ "has_audio": false
35
+ },
36
+ "info": {
37
+ "video.height": 256,
38
+ "video.width": 256,
39
+ "video.codec": "av1",
40
+ "video.pix_fmt": "yuv420p",
41
+ "video.is_depth_map": false,
42
+ "video.fps": 5,
43
+ "video.channels": 3,
44
+ "has_audio": false
45
+ }
46
+ },
47
+ "observation.state.cartesian": {
48
+ "dtype": "float32",
49
+ "shape": [
50
+ 6
51
+ ],
52
+ "names": [
53
+ "x",
54
+ "y",
55
+ "z",
56
+ "roll",
57
+ "pitch",
58
+ "yaw"
59
+ ]
60
+ },
61
+ "observation.state.gripper": {
62
+ "dtype": "float32",
63
+ "shape": [
64
+ 1
65
+ ],
66
+ "names": [
67
+ "gripper"
68
+ ]
69
+ },
70
+ "observation.state.joints": {
71
+ "dtype": "float32",
72
+ "shape": [
73
+ 7
74
+ ],
75
+ "names": [
76
+ "joint_0",
77
+ "joint_1",
78
+ "joint_2",
79
+ "joint_3",
80
+ "joint_4",
81
+ "joint_5",
82
+ "joint_6"
83
+ ]
84
+ },
85
+ "observation.state.target": {
86
+ "dtype": "float32",
87
+ "shape": [
88
+ 6
89
+ ],
90
+ "names": [
91
+ "target_x",
92
+ "target_y",
93
+ "target_z",
94
+ "target_roll",
95
+ "target_pitch",
96
+ "target_yaw"
97
+ ]
98
+ },
99
+ "observation.state": {
100
+ "dtype": "float32",
101
+ "shape": [
102
+ 20
103
+ ],
104
+ "names": [
105
+ "x",
106
+ "y",
107
+ "z",
108
+ "roll",
109
+ "pitch",
110
+ "yaw",
111
+ "gripper",
112
+ "joint_0",
113
+ "joint_1",
114
+ "joint_2",
115
+ "joint_3",
116
+ "joint_4",
117
+ "joint_5",
118
+ "joint_6",
119
+ "target_x",
120
+ "target_y",
121
+ "target_z",
122
+ "target_roll",
123
+ "target_pitch",
124
+ "target_yaw"
125
+ ]
126
+ },
127
+ "action": {
128
+ "dtype": "float32",
129
+ "shape": [
130
+ 7
131
+ ],
132
+ "names": [
133
+ "x",
134
+ "y",
135
+ "z",
136
+ "roll",
137
+ "pitch",
138
+ "yaw",
139
+ "gripper"
140
+ ]
141
+ },
142
+ "timestamp": {
143
+ "dtype": "float32",
144
+ "shape": [
145
+ 1
146
+ ],
147
+ "names": null
148
+ },
149
+ "frame_index": {
150
+ "dtype": "int64",
151
+ "shape": [
152
+ 1
153
+ ],
154
+ "names": null
155
+ },
156
+ "episode_index": {
157
+ "dtype": "int64",
158
+ "shape": [
159
+ 1
160
+ ],
161
+ "names": null
162
+ },
163
+ "index": {
164
+ "dtype": "int64",
165
+ "shape": [
166
+ 1
167
+ ],
168
+ "names": null
169
+ },
170
+ "task_index": {
171
+ "dtype": "int64",
172
+ "shape": [
173
+ 1
174
+ ],
175
+ "names": null
176
+ }
177
+ }
178
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "pick the lego block."}
videos/chunk-000/observation.images.right_third_person_camera_top_right/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8426600e8f968adcb061ed7115943b17a65671ce7f4ce84a5ea4e23c6f7bb9f5
3
+ size 3924146