Hugging Face's logo

Datasets:
coded190
/
pingti_palm_tree

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
coded190 commited on
Commit
48543d5
·
verified ·
1 Parent(s): c20f32c

Upload folder using huggingface_hub

Browse files
Files changed (6) hide show
  1. data/chunk-000/file-000.parquet +3 -0
  2. meta/episodes/chunk-000/file-000.parquet +3 -0
  3. meta/info.json +127 -0
  4. meta/stats.json +601 -0
  5. meta/tasks.parquet +3 -0
  6. videos/observation.images.wrist_camera/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:39ad375c245aa11f072216b1074b0dc152eafba192e0d7c09bad9ed71c8c6fd8
3
+ size 678771
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:22d35cece46c20ba887c026bad599f29ef9fe903b538f6889c360173fbe88528
3
+ size 255655
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "pingti_arm_v4",
4
+ "total_episodes": 48,
5
+ "total_frames": 4866,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:48"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "env_id": {
18
+ "dtype": "int64",
19
+ "shape": [
20
+ 1
21
+ ],
22
+ "names": null
23
+ },
24
+ "observation.state": {
25
+ "dtype": "float32",
26
+ "shape": [
27
+ 6
28
+ ],
29
+ "names": [
30
+ "joint_0",
31
+ "joint_1",
32
+ "joint_2",
33
+ "joint_3",
34
+ "joint_4",
35
+ "joint_5"
36
+ ]
37
+ },
38
+ "observation.state.ee_pose": {
39
+ "dtype": "float32",
40
+ "shape": [
41
+ 7
42
+ ],
43
+ "names": [
44
+ "x",
45
+ "y",
46
+ "z",
47
+ "qw",
48
+ "qx",
49
+ "qy",
50
+ "qz"
51
+ ]
52
+ },
53
+ "observation.images.wrist_camera": {
54
+ "dtype": "video",
55
+ "shape": [
56
+ 3,
57
+ 480,
58
+ 640
59
+ ],
60
+ "names": [
61
+ "c",
62
+ "h",
63
+ "w"
64
+ ],
65
+ "info": {
66
+ "video.height": 480,
67
+ "video.width": 640,
68
+ "video.codec": "av1",
69
+ "video.pix_fmt": "yuv420p",
70
+ "video.is_depth_map": false,
71
+ "video.fps": 30,
72
+ "video.channels": 3,
73
+ "has_audio": false
74
+ }
75
+ },
76
+ "action": {
77
+ "dtype": "float32",
78
+ "shape": [
79
+ 7
80
+ ],
81
+ "names": [
82
+ "dx",
83
+ "dy",
84
+ "dz",
85
+ "droll",
86
+ "dpitch",
87
+ "dyaw",
88
+ "gripper"
89
+ ]
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
meta/stats.json ADDED
@@ -0,0 +1,601 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state.ee_pose": {
3
+ "min": [
4
+ 0.121706023812294,
5
+ -0.5363978743553162,
6
+ 4.954592227935791,
7
+ -0.9818494319915771,
8
+ -0.5726036429405212,
9
+ -0.024309318512678146,
10
+ -0.8663159012794495
11
+ ],
12
+ "max": [
13
+ 0.9760922193527222,
14
+ 0.3147694766521454,
15
+ 5.189783096313477,
16
+ -0.12610167264938354,
17
+ 0.6093246936798096,
18
+ 0.6647423505783081,
19
+ 0.9818494319915771
20
+ ],
21
+ "mean": [
22
+ 0.572969614666306,
23
+ -0.09316132988369623,
24
+ 5.062922341706964,
25
+ -0.6262369994495175,
26
+ 0.00974570969682366,
27
+ 0.2194961579704096,
28
+ 0.12591450613955138
29
+ ],
30
+ "std": [
31
+ 0.24517713353106843,
32
+ 0.2571928823172944,
33
+ 0.0565517600428926,
34
+ 0.26604344719681716,
35
+ 0.24249716910127006,
36
+ 0.1507958323828839,
37
+ 0.6256003788909136
38
+ ],
39
+ "count": [
40
+ 4866
41
+ ],
42
+ "q01": [
43
+ 0.5173597554571768,
44
+ -0.1511529112122465,
45
+ 4.976206799443456,
46
+ -0.6888599969973892,
47
+ -0.13126612881233393,
48
+ 0.005262328930733765,
49
+ 0.0864586558654064
50
+ ],
51
+ "q10": [
52
+ 0.5369301371361928,
53
+ -0.13251119588150123,
54
+ 4.982082138185917,
55
+ -0.6715114580269145,
56
+ -0.08826927818499868,
57
+ 0.09618361017476174,
58
+ 0.08945045818729619
59
+ ],
60
+ "q50": [
61
+ 0.5737792629350901,
62
+ -0.09296258939879967,
63
+ 5.085033427558125,
64
+ -0.6249315410980337,
65
+ 0.013253536421566313,
66
+ 0.23625337432713464,
67
+ 0.11816347880197729
68
+ ],
69
+ "q90": [
70
+ 0.6073310777791894,
71
+ -0.055071074642612565,
72
+ 5.113388011246583,
73
+ -0.5874608236237092,
74
+ 0.09334634703529067,
75
+ 0.3018962927752151,
76
+ 0.17377931416136036
77
+ ],
78
+ "q99": [
79
+ 0.624837095894983,
80
+ -0.03566592315737879,
81
+ 5.115806371408819,
82
+ -0.5775812889540481,
83
+ 0.13913981415838397,
84
+ 0.30969283516360413,
85
+ 0.20067898011065569
86
+ ]
87
+ },
88
+ "timestamp": {
89
+ "min": [
90
+ 0.0
91
+ ],
92
+ "max": [
93
+ 4.966666666666667
94
+ ],
95
+ "mean": [
96
+ 1.704671872859296
97
+ ],
98
+ "std": [
99
+ 1.033345753594805
100
+ ],
101
+ "count": [
102
+ 4866
103
+ ],
104
+ "q01": [
105
+ 0.01887454123545921
106
+ ],
107
+ "q10": [
108
+ 0.32769283455410425
109
+ ],
110
+ "q50": [
111
+ 1.6973064200571046
112
+ ],
113
+ "q90": [
114
+ 3.079433278611961
115
+ ],
116
+ "q99": [
117
+ 3.390231403852894
118
+ ]
119
+ },
120
+ "env_id": {
121
+ "min": [
122
+ 0
123
+ ],
124
+ "max": [
125
+ 0
126
+ ],
127
+ "mean": [
128
+ 0.0
129
+ ],
130
+ "std": [
131
+ 0.0
132
+ ],
133
+ "count": [
134
+ 4866
135
+ ],
136
+ "q01": [
137
+ 3.9999999999994176e-16
138
+ ],
139
+ "q10": [
140
+ 3.9999999999994166e-15
141
+ ],
142
+ "q50": [
143
+ 1.9999999999997084e-14
144
+ ],
145
+ "q90": [
146
+ 3.599999999999478e-14
147
+ ],
148
+ "q99": [
149
+ 3.9599999999994235e-14
150
+ ]
151
+ },
152
+ "episode_index": {
153
+ "min": [
154
+ 0
155
+ ],
156
+ "max": [
157
+ 47
158
+ ],
159
+ "mean": [
160
+ 23.249280723386757
161
+ ],
162
+ "std": [
163
+ 13.581682849271438
164
+ ],
165
+ "count": [
166
+ 4866
167
+ ],
168
+ "q01": [
169
+ 23.249280723386757
170
+ ],
171
+ "q10": [
172
+ 23.249280723386757
173
+ ],
174
+ "q50": [
175
+ 23.24928072338678
176
+ ],
177
+ "q90": [
178
+ 23.249280723386796
179
+ ],
180
+ "q99": [
181
+ 23.2492807233868
182
+ ]
183
+ },
184
+ "frame_index": {
185
+ "min": [
186
+ 0
187
+ ],
188
+ "max": [
189
+ 149
190
+ ],
191
+ "mean": [
192
+ 51.14015618577888
193
+ ],
194
+ "std": [
195
+ 31.000372607844152
196
+ ],
197
+ "count": [
198
+ 4866
199
+ ],
200
+ "q01": [
201
+ 0.5662362399339113
202
+ ],
203
+ "q10": [
204
+ 9.830785038965665
205
+ ],
206
+ "q50": [
207
+ 50.9189911220711
208
+ ],
209
+ "q90": [
210
+ 92.38299835601983
211
+ ],
212
+ "q99": [
213
+ 101.7069421127171
214
+ ]
215
+ },
216
+ "task_index": {
217
+ "min": [
218
+ 0
219
+ ],
220
+ "max": [
221
+ 0
222
+ ],
223
+ "mean": [
224
+ 0.0
225
+ ],
226
+ "std": [
227
+ 0.0
228
+ ],
229
+ "count": [
230
+ 4866
231
+ ],
232
+ "q01": [
233
+ 3.9999999999994176e-16
234
+ ],
235
+ "q10": [
236
+ 3.9999999999994166e-15
237
+ ],
238
+ "q50": [
239
+ 1.9999999999997084e-14
240
+ ],
241
+ "q90": [
242
+ 3.599999999999478e-14
243
+ ],
244
+ "q99": [
245
+ 3.9599999999994235e-14
246
+ ]
247
+ },
248
+ "action": {
249
+ "min": [
250
+ -0.015452742576599121,
251
+ -0.015488028526306152,
252
+ -0.006734371185302734,
253
+ -0.05502769723534584,
254
+ -0.06380786001682281,
255
+ -0.012337015941739082,
256
+ 0.0
257
+ ],
258
+ "max": [
259
+ 0.016281425952911377,
260
+ 0.015603885054588318,
261
+ 0.007727146148681641,
262
+ 0.04908688738942146,
263
+ 0.06214343011379242,
264
+ 0.023875398561358452,
265
+ 0.2631678879261017
266
+ ],
267
+ "mean": [
268
+ -4.454461738330466e-06,
269
+ -2.0192604757779796e-05,
270
+ 0.001154646382383287,
271
+ -0.00032291929004044003,
272
+ -0.0006097634385144311,
273
+ 0.0011055658838071331,
274
+ 0.16112664704541402
275
+ ],
276
+ "std": [
277
+ 0.0029752416939770915,
278
+ 0.003201939557049815,
279
+ 0.0019161919512908111,
280
+ 0.010365432533076369,
281
+ 0.010530932652089632,
282
+ 0.004222229710770146,
283
+ 0.08519448375320988
284
+ ],
285
+ "count": [
286
+ 4866
287
+ ],
288
+ "q01": [
289
+ -0.004522932963877982,
290
+ -0.005168005520323409,
291
+ -0.0034074530956938573,
292
+ -0.017410080006853616,
293
+ -0.018810879834699337,
294
+ -0.004198564931845396,
295
+ 0.005703856829840756
296
+ ],
297
+ "q10": [
298
+ -0.0030492556485327642,
299
+ -0.003395430159099618,
300
+ -0.0006401632845690164,
301
+ -0.009825305184817503,
302
+ -0.009965531281444825,
303
+ -0.002800106750792978,
304
+ 0.07665844242440693
305
+ ],
306
+ "q50": [
307
+ -8.731953225609579e-05,
308
+ -0.00012502589323218162,
309
+ 0.0007215212051772342,
310
+ -0.0003019256919641,
311
+ -0.00048460387715658143,
312
+ 0.0002585595650578073,
313
+ 0.18355128043040664
314
+ ],
315
+ "q90": [
316
+ 0.0033607511781083605,
317
+ 0.0035933796720812126,
318
+ 0.003882363967003639,
319
+ 0.008409196820422333,
320
+ 0.008860165330302002,
321
+ 0.006116001711261366,
322
+ 0.2017573737894363
323
+ ],
324
+ "q99": [
325
+ 0.005531143623581611,
326
+ 0.005799960090469145,
327
+ 0.00460363851795753,
328
+ 0.01632657500808636,
329
+ 0.015820562782865425,
330
+ 0.01327392081246528,
331
+ 0.2028572307249723
332
+ ]
333
+ },
334
+ "index": {
335
+ "min": [
336
+ 0
337
+ ],
338
+ "max": [
339
+ 4865
340
+ ],
341
+ "mean": [
342
+ 2432.5
343
+ ],
344
+ "std": [
345
+ 1404.6931752758912
346
+ ],
347
+ "count": [
348
+ 4866
349
+ ],
350
+ "q01": [
351
+ 2381.926080054154
352
+ ],
353
+ "q10": [
354
+ 2391.1906288531873
355
+ ],
356
+ "q50": [
357
+ 2432.279538265516
358
+ ],
359
+ "q90": [
360
+ 2473.7428421702407
361
+ ],
362
+ "q99": [
363
+ 2483.0667859269383
364
+ ]
365
+ },
366
+ "observation.state": {
367
+ "min": [
368
+ -0.18995267152786255,
369
+ -0.941582202911377,
370
+ -0.8084609508514404,
371
+ 0.0,
372
+ -1.5166120529174805,
373
+ 0.0
374
+ ],
375
+ "max": [
376
+ 0.03934505209326744,
377
+ 0.19062992930412292,
378
+ 0.6316148638725281,
379
+ 1.1852519512176514,
380
+ -0.0,
381
+ 0.2631678879261017
382
+ ],
383
+ "mean": [
384
+ -0.054852360537875886,
385
+ -0.41822757407604877,
386
+ 0.04754365733765339,
387
+ 0.5419373539400063,
388
+ -0.6499125020975838,
389
+ 0.16112664704541402
390
+ ],
391
+ "std": [
392
+ 0.046636119632654016,
393
+ 0.25567191270177864,
394
+ 0.33391123085685465,
395
+ 0.26982135175440103,
396
+ 0.33690838548693813,
397
+ 0.08519448375320988
398
+ ],
399
+ "count": [
400
+ 4866
401
+ ],
402
+ "q01": [
403
+ -0.0958521766654681,
404
+ -0.7151656784397278,
405
+ -0.35893023066251467,
406
+ 0.01268460713248993,
407
+ -0.8719025529336256,
408
+ 0.005703856829840756
409
+ ],
410
+ "q10": [
411
+ -0.0899674743259538,
412
+ -0.7008364392486541,
413
+ -0.3192429389608812,
414
+ 0.19270366945664832,
415
+ -0.8588924287166504,
416
+ 0.07665844242440693
417
+ ],
418
+ "q50": [
419
+ -0.05752199375069283,
420
+ -0.4280097014442482,
421
+ 0.02378773972800044,
422
+ 0.6116203421591583,
423
+ -0.7260736778130024,
424
+ 0.18355128043040664
425
+ ],
426
+ "q90": [
427
+ -0.02008796787724122,
428
+ -0.12957944859902085,
429
+ 0.4515394387787362,
430
+ 0.7621351626656473,
431
+ -0.28134665750905075,
432
+ 0.2017573737894363
433
+ ],
434
+ "q99": [
435
+ 0.0040956357517189365,
436
+ 0.004001480627918339,
437
+ 0.48086539679785034,
438
+ 0.7783643141344864,
439
+ -0.01877410962379683,
440
+ 0.2028572307249723
441
+ ]
442
+ },
443
+ "observation.images.wrist_camera": {
444
+ "min": [
445
+ [
446
+ [
447
+ 0.0
448
+ ]
449
+ ],
450
+ [
451
+ [
452
+ 0.0
453
+ ]
454
+ ],
455
+ [
456
+ [
457
+ 0.0
458
+ ]
459
+ ]
460
+ ],
461
+ "max": [
462
+ [
463
+ [
464
+ 0.9764705882352941
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.9764705882352941
470
+ ]
471
+ ],
472
+ [
473
+ [
474
+ 0.9764705882352941
475
+ ]
476
+ ]
477
+ ],
478
+ "mean": [
479
+ [
480
+ [
481
+ 0.34486311969425826
482
+ ]
483
+ ],
484
+ [
485
+ [
486
+ 0.3474323534839405
487
+ ]
488
+ ],
489
+ [
490
+ [
491
+ 0.2353115565247009
492
+ ]
493
+ ]
494
+ ],
495
+ "std": [
496
+ [
497
+ [
498
+ 0.031753244214830605
499
+ ]
500
+ ],
501
+ [
502
+ [
503
+ 0.031741438424702145
504
+ ]
505
+ ],
506
+ [
507
+ [
508
+ 0.026238601024294032
509
+ ]
510
+ ]
511
+ ],
512
+ "count": [
513
+ 4591
514
+ ],
515
+ "q01": [
516
+ [
517
+ [
518
+ -3.9215686274509817e-13
519
+ ]
520
+ ],
521
+ [
522
+ [
523
+ -3.9215686274509817e-13
524
+ ]
525
+ ],
526
+ [
527
+ [
528
+ -3.9215686274509817e-13
529
+ ]
530
+ ]
531
+ ],
532
+ "q10": [
533
+ [
534
+ [
535
+ 0.01583101564026989
536
+ ]
537
+ ],
538
+ [
539
+ [
540
+ 0.015912089530268726
541
+ ]
542
+ ],
543
+ [
544
+ [
545
+ 0.0038454842812770426
546
+ ]
547
+ ]
548
+ ],
549
+ "q50": [
550
+ [
551
+ [
552
+ 0.2819597121413436
553
+ ]
554
+ ],
555
+ [
556
+ [
557
+ 0.2869436770781146
558
+ ]
559
+ ],
560
+ [
561
+ [
562
+ 0.08159327089671413
563
+ ]
564
+ ]
565
+ ],
566
+ "q90": [
567
+ [
568
+ [
569
+ 0.7974390941482292
570
+ ]
571
+ ],
572
+ [
573
+ [
574
+ 0.7972206726426485
575
+ ]
576
+ ],
577
+ [
578
+ [
579
+ 0.7729042578769594
580
+ ]
581
+ ]
582
+ ],
583
+ "q99": [
584
+ [
585
+ [
586
+ 0.947408560435865
587
+ ]
588
+ ],
589
+ [
590
+ [
591
+ 0.9474071264414163
592
+ ]
593
+ ],
594
+ [
595
+ [
596
+ 0.9465990794351148
597
+ ]
598
+ ]
599
+ ]
600
+ }
601
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:440a30215dd1292821201720133af7044c6dae94df23921117637d7d47b89b6f
3
+ size 2580
videos/observation.images.wrist_camera/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8f064f35dd82e92eec00a2ea7338b555a19c731873529b2edbb3e65a161a099e
3
+ size 69253557