Hugging Face's logo

Datasets:
ankile
/
square-d1-teleop-v1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
ankile commited on
Commit
9ef6f09
·
verified ·
1 Parent(s): 595105a

Upload README.md with huggingface_hub

Browse files
Files changed (1) hide show
  1. README.md +305 -0
README.md ADDED
@@ -0,0 +1,305 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - LeRobot
7
+ configs:
8
+ - config_name: default
9
+ data_files: data/*/*.parquet
10
+ ---
11
+
12
+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
13
+
14
+ ## Dataset Description
15
+
16
+
17
+
18
+ - **Homepage:** [More Information Needed]
19
+ - **Paper:** [More Information Needed]
20
+ - **License:** apache-2.0
21
+
22
+ ## Dataset Structure
23
+
24
+ [meta/info.json](meta/info.json):
25
+ ```json
26
+ {
27
+ "codebase_version": "v3.0",
28
+ "robot_type": "panda",
29
+ "total_episodes": 100,
30
+ "total_frames": 18432,
31
+ "total_tasks": 1,
32
+ "chunks_size": 1000,
33
+ "data_files_size_in_mb": 100,
34
+ "video_files_size_in_mb": 200,
35
+ "fps": 20,
36
+ "splits": {
37
+ "train": "0:100"
38
+ },
39
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
40
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
41
+ "features": {
42
+ "observation.state": {
43
+ "dtype": "float32",
44
+ "shape": [
45
+ 9
46
+ ],
47
+ "names": [
48
+ "eef_pos_x",
49
+ "eef_pos_y",
50
+ "eef_pos_z",
51
+ "eef_quat_x",
52
+ "eef_quat_y",
53
+ "eef_quat_z",
54
+ "eef_quat_w",
55
+ "gripper_qpos_left",
56
+ "gripper_qpos_right"
57
+ ]
58
+ },
59
+ "observation.environment_state": {
60
+ "dtype": "float32",
61
+ "shape": [
62
+ 17
63
+ ],
64
+ "names": [
65
+ "nut_to_eef_pos_x",
66
+ "nut_to_eef_pos_y",
67
+ "nut_to_eef_pos_z",
68
+ "nut_to_eef_quat_x",
69
+ "nut_to_eef_quat_y",
70
+ "nut_to_eef_quat_z",
71
+ "nut_to_eef_quat_w",
72
+ "nut_pos_x",
73
+ "nut_pos_y",
74
+ "nut_pos_z",
75
+ "nut_quat_x",
76
+ "nut_quat_y",
77
+ "nut_quat_z",
78
+ "nut_quat_w",
79
+ "peg_pos_x",
80
+ "peg_pos_y",
81
+ "peg_pos_z"
82
+ ]
83
+ },
84
+ "action": {
85
+ "dtype": "float32",
86
+ "shape": [
87
+ 7
88
+ ],
89
+ "names": [
90
+ "delta_eef_pos_x",
91
+ "delta_eef_pos_y",
92
+ "delta_eef_pos_z",
93
+ "delta_eef_rot_x",
94
+ "delta_eef_rot_y",
95
+ "delta_eef_rot_z",
96
+ "gripper_action"
97
+ ]
98
+ },
99
+ "steps_to_go": {
100
+ "dtype": "int64",
101
+ "shape": [
102
+ 1
103
+ ],
104
+ "names": [
105
+ "steps_to_go"
106
+ ]
107
+ },
108
+ "source": {
109
+ "dtype": "int64",
110
+ "shape": [
111
+ 1
112
+ ],
113
+ "names": [
114
+ "source_id"
115
+ ]
116
+ },
117
+ "success": {
118
+ "dtype": "int64",
119
+ "shape": [
120
+ 1
121
+ ],
122
+ "names": [
123
+ "success_flag"
124
+ ]
125
+ },
126
+ "is_valid": {
127
+ "dtype": "int64",
128
+ "shape": [
129
+ 1
130
+ ],
131
+ "names": [
132
+ "is_valid_flag"
133
+ ]
134
+ },
135
+ "reward": {
136
+ "dtype": "float32",
137
+ "shape": [
138
+ 1
139
+ ],
140
+ "names": [
141
+ "reward"
142
+ ]
143
+ },
144
+ "done": {
145
+ "dtype": "int64",
146
+ "shape": [
147
+ 1
148
+ ],
149
+ "names": [
150
+ "done_flag"
151
+ ]
152
+ },
153
+ "initial_sim_qpos": {
154
+ "dtype": "float32",
155
+ "shape": [
156
+ 23
157
+ ],
158
+ "names": [
159
+ "qpos_0",
160
+ "qpos_1",
161
+ "qpos_2",
162
+ "qpos_3",
163
+ "qpos_4",
164
+ "qpos_5",
165
+ "qpos_6",
166
+ "qpos_7",
167
+ "qpos_8",
168
+ "qpos_9",
169
+ "qpos_10",
170
+ "qpos_11",
171
+ "qpos_12",
172
+ "qpos_13",
173
+ "qpos_14",
174
+ "qpos_15",
175
+ "qpos_16",
176
+ "qpos_17",
177
+ "qpos_18",
178
+ "qpos_19",
179
+ "qpos_20",
180
+ "qpos_21",
181
+ "qpos_22"
182
+ ]
183
+ },
184
+ "initial_sim_qvel": {
185
+ "dtype": "float32",
186
+ "shape": [
187
+ 21
188
+ ],
189
+ "names": [
190
+ "qvel_0",
191
+ "qvel_1",
192
+ "qvel_2",
193
+ "qvel_3",
194
+ "qvel_4",
195
+ "qvel_5",
196
+ "qvel_6",
197
+ "qvel_7",
198
+ "qvel_8",
199
+ "qvel_9",
200
+ "qvel_10",
201
+ "qvel_11",
202
+ "qvel_12",
203
+ "qvel_13",
204
+ "qvel_14",
205
+ "qvel_15",
206
+ "qvel_16",
207
+ "qvel_17",
208
+ "qvel_18",
209
+ "qvel_19",
210
+ "qvel_20"
211
+ ]
212
+ },
213
+ "observation.images.agentview": {
214
+ "dtype": "video",
215
+ "shape": [
216
+ 256,
217
+ 256,
218
+ 3
219
+ ],
220
+ "names": [
221
+ "height",
222
+ "width",
223
+ "channels"
224
+ ],
225
+ "info": {
226
+ "video.height": 256,
227
+ "video.width": 256,
228
+ "video.codec": "h264",
229
+ "video.pix_fmt": "yuv420p",
230
+ "video.is_depth_map": false,
231
+ "video.fps": 20,
232
+ "video.channels": 3,
233
+ "has_audio": false
234
+ }
235
+ },
236
+ "observation.images.robot0_eye_in_hand": {
237
+ "dtype": "video",
238
+ "shape": [
239
+ 256,
240
+ 256,
241
+ 3
242
+ ],
243
+ "names": [
244
+ "height",
245
+ "width",
246
+ "channels"
247
+ ],
248
+ "info": {
249
+ "video.height": 256,
250
+ "video.width": 256,
251
+ "video.codec": "h264",
252
+ "video.pix_fmt": "yuv420p",
253
+ "video.is_depth_map": false,
254
+ "video.fps": 20,
255
+ "video.channels": 3,
256
+ "has_audio": false
257
+ }
258
+ },
259
+ "timestamp": {
260
+ "dtype": "float32",
261
+ "shape": [
262
+ 1
263
+ ],
264
+ "names": null
265
+ },
266
+ "frame_index": {
267
+ "dtype": "int64",
268
+ "shape": [
269
+ 1
270
+ ],
271
+ "names": null
272
+ },
273
+ "episode_index": {
274
+ "dtype": "int64",
275
+ "shape": [
276
+ 1
277
+ ],
278
+ "names": null
279
+ },
280
+ "index": {
281
+ "dtype": "int64",
282
+ "shape": [
283
+ 1
284
+ ],
285
+ "names": null
286
+ },
287
+ "task_index": {
288
+ "dtype": "int64",
289
+ "shape": [
290
+ 1
291
+ ],
292
+ "names": null
293
+ }
294
+ }
295
+ }
296
+ ```
297
+
298
+
299
+ ## Citation
300
+
301
+ **BibTeX:**
302
+
303
+ ```bibtex
304
+ [More Information Needed]
305
+ ```