Hugging Face's logo

Datasets:
danbhf
/
sim_pick_place_2pos_200ep_v2

Modalities:
Video
Size:
< 1K
Libraries:
Datasets
Dataset card Data Studio Files
xet
Community
danbhf commited on
Commit
d3b67fd
·
verified ·
1 Parent(s): bce8a0a

Upload folder using huggingface_hub

Browse files
Files changed (27) hide show
  1. data/chunk-000/file-000.parquet +3 -0
  2. meta/episode_scenes.json +0 -0
  3. meta/episodes/chunk-000/file-000.parquet +3 -0
  4. meta/info.json +152 -0
  5. meta/recording_metadata.json +0 -0
  6. meta/stats.json +70 -0
  7. meta/tasks.parquet +3 -0
  8. videos/observation.images.overhead_cam/chunk-000/file-000.mp4 +3 -0
  9. videos/observation.images.overhead_cam/chunk-001/file-000.mp4 +3 -0
  10. videos/observation.images.overhead_cam/chunk-002/file-000.mp4 +3 -0
  11. videos/observation.images.overhead_cam/chunk-003/file-000.mp4 +3 -0
  12. videos/observation.images.overhead_cam/chunk-004/file-000.mp4 +3 -0
  13. videos/observation.images.overhead_cam/chunk-005/file-000.mp4 +3 -0
  14. videos/observation.images.overhead_cam/chunk-006/file-000.mp4 +3 -0
  15. videos/observation.images.overhead_cam/chunk-007/file-000.mp4 +3 -0
  16. videos/observation.images.overhead_cam/chunk-008/file-000.mp4 +3 -0
  17. videos/observation.images.overhead_cam/chunk-009/file-000.mp4 +3 -0
  18. videos/observation.images.wrist_cam/chunk-000/file-000.mp4 +3 -0
  19. videos/observation.images.wrist_cam/chunk-001/file-000.mp4 +3 -0
  20. videos/observation.images.wrist_cam/chunk-002/file-000.mp4 +3 -0
  21. videos/observation.images.wrist_cam/chunk-003/file-000.mp4 +3 -0
  22. videos/observation.images.wrist_cam/chunk-004/file-000.mp4 +3 -0
  23. videos/observation.images.wrist_cam/chunk-005/file-000.mp4 +3 -0
  24. videos/observation.images.wrist_cam/chunk-006/file-000.mp4 +3 -0
  25. videos/observation.images.wrist_cam/chunk-007/file-000.mp4 +3 -0
  26. videos/observation.images.wrist_cam/chunk-008/file-000.mp4 +3 -0
  27. videos/observation.images.wrist_cam/chunk-009/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:f7c6a7bae64d7001809ad287442bb75f9290c2e6f3e16d6b8c770c3970fb8cc3
3
+ size 1020135
meta/episode_scenes.json ADDED
The diff for this file is too large to render. See raw diff
 
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6c5dc17e213980bcd783111a903bcc97f02750f3406da8ae5d27d46120cfedbf
3
+ size 355410
meta/info.json ADDED
@@ -0,0 +1,152 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so100_sim",
4
+ "total_episodes": 200,
5
+ "total_frames": 28816,
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": "0:200"
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
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "shoulder_pan.pos",
24
+ "shoulder_lift.pos",
25
+ "elbow_flex.pos",
26
+ "wrist_flex.pos",
27
+ "wrist_roll.pos",
28
+ "gripper.pos"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "shoulder_pan.pos",
38
+ "shoulder_lift.pos",
39
+ "elbow_flex.pos",
40
+ "wrist_flex.pos",
41
+ "wrist_roll.pos",
42
+ "gripper.pos"
43
+ ]
44
+ },
45
+ "observation.images.wrist_cam": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 480,
49
+ 640,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 480,
59
+ "video.width": 640,
60
+ "video.codec": "av1",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 30,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.overhead_cam": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 480,
82
+ "video.width": 640,
83
+ "video.codec": "av1",
84
+ "video.pix_fmt": "yuv420p",
85
+ "video.is_depth_map": false,
86
+ "video.fps": 30,
87
+ "video.channels": 3,
88
+ "has_audio": false
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
+ "scene": {
128
+ "scene_xml": "E:/git/ai/lerobot-thesis/scenes/so101_with_wrist_cam.xml",
129
+ "objects": {
130
+ "duplo": {
131
+ "position": {
132
+ "x": 0.217,
133
+ "y": 0.225,
134
+ "z": 0.009491975540664574
135
+ },
136
+ "quaternion": {
137
+ "w": 1.0,
138
+ "x": 0.0,
139
+ "y": 0.0,
140
+ "z": 0.0
141
+ }
142
+ },
143
+ "bowl": {
144
+ "position": {
145
+ "x": 0.217,
146
+ "y": -0.225,
147
+ "z": 0.0
148
+ }
149
+ }
150
+ }
151
+ }
152
+ }
meta/recording_metadata.json ADDED
The diff for this file is too large to render. See raw diff
 
meta/stats.json ADDED
@@ -0,0 +1,70 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ -100.0,
5
+ -99.82417297363281,
6
+ -100.0,
7
+ -89.72697448730469,
8
+ -3.982422351837158,
9
+ 0.0
10
+ ],
11
+ "max": [
12
+ 100.0,
13
+ 89.62637329101562,
14
+ 93.1003189086914,
15
+ 100.0,
16
+ 100.0,
17
+ 97.20223999023438
18
+ ],
19
+ "mean": [
20
+ 1.394993543624878,
21
+ 5.2222208976745605,
22
+ -2.1581947803497314,
23
+ 45.39692306518555,
24
+ 57.996925354003906,
25
+ 28.742225646972656
26
+ ],
27
+ "std": [
28
+ 31.646203994750977,
29
+ 34.502071380615234,
30
+ 40.08234405517578,
31
+ 44.87614059448242,
32
+ 21.484956741333008,
33
+ 20.86862564086914
34
+ ]
35
+ },
36
+ "observation.state": {
37
+ "min": [
38
+ 8.069849014282227,
39
+ -15.225086212158203,
40
+ 0.17670325934886932,
41
+ -32.82341384887695,
42
+ -25.085195541381836,
43
+ -24.9349422454834
44
+ ],
45
+ "max": [
46
+ 20.07768440246582,
47
+ 17.647504806518555,
48
+ 18.67496681213379,
49
+ 60.310035705566406,
50
+ 20.75700569152832,
51
+ 37.61404037475586
52
+ ],
53
+ "mean": [
54
+ 13.831110954284668,
55
+ 2.045976400375366,
56
+ 2.452655076980591,
57
+ 33.49800109863281,
58
+ -1.9817447662353516,
59
+ 8.078744888305664
60
+ ],
61
+ "std": [
62
+ 3.199754476547241,
63
+ 9.447450637817383,
64
+ 3.345407247543335,
65
+ 22.838319778442383,
66
+ 3.9215009212493896,
67
+ 5.017103672027588
68
+ ]
69
+ }
70
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bb85256c7a73d1c7fcf3a92f814d151ddd73a1e0d6d6cc3ef80669b1f0227f9f
3
+ size 2336
videos/observation.images.overhead_cam/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:74dc194c9f5dd838aec6f7ef14714e5e5130be2aee5b104d85e35fb416979fe9
3
+ size 14817052
videos/observation.images.overhead_cam/chunk-001/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e8edf27e2eaa6ceb28c0fc5f20684ebb5cdae520517adacaa47983df72a1bfe8
3
+ size 22424036
videos/observation.images.overhead_cam/chunk-002/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7d29d81fd3c32a1b77da7e892dac187c8ed110c4ea853e0e05f2caa8b5b14a77
3
+ size 19129325
videos/observation.images.overhead_cam/chunk-003/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dab6efd5621433368528ab79252dc4541eb56cb65c7c35a0abe21e47a9b7fdec
3
+ size 17943353
videos/observation.images.overhead_cam/chunk-004/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fd1ab6b56a665954f23a679e28fde3cdce79d86759ad86b79a4d9c7325bb182c
3
+ size 17653281
videos/observation.images.overhead_cam/chunk-005/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:888303bb0e37dfe876a6c5a80c8f5e5dfff0292ac407c8eac469d8b145f7d8c5
3
+ size 18241567
videos/observation.images.overhead_cam/chunk-006/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:621c4e587d3b36b2b2a83061e6de81521d0bb925c81127ca2530dc5693b18fc3
3
+ size 16329399
videos/observation.images.overhead_cam/chunk-007/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:599ea31ec5e2e7890c1648a8914e65450eec70a4c06e41809cb6187c7f681ffa
3
+ size 15873652
videos/observation.images.overhead_cam/chunk-008/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0ee951d0cfb8554ae114506d5358adcd763080832b93a8e0dcb9e8a8c209e155
3
+ size 15929713
videos/observation.images.overhead_cam/chunk-009/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8baab2bec68da217abf68bfc31a67a8f2acbd65445612ebddd7c4e5a7766de34
3
+ size 12632455
videos/observation.images.wrist_cam/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9d5ffb112577f743172ae6566c7fa9e24a9cc3d89ba1f7bc0b309a50c5e51b9f
3
+ size 20751073
videos/observation.images.wrist_cam/chunk-001/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:72c068e79ffa9da2cc31d19df394519d476fbf9dfb841bde93abc17313b46933
3
+ size 29011813
videos/observation.images.wrist_cam/chunk-002/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:43074dd44e92d043ebb994143d813011ed5e0eb1481d6cbb0d50acf86ad28c49
3
+ size 22367894
videos/observation.images.wrist_cam/chunk-003/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2b0976f37501d3f4f4d801fe431de81bd81a491471e9acddaf092b0b318753cb
3
+ size 21311000
videos/observation.images.wrist_cam/chunk-004/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:45412856d0a2e14ec8276963a3a9301cc2dafe34798a0fce52b55d44f2ef6e8f
3
+ size 22094978
videos/observation.images.wrist_cam/chunk-005/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:222b7533b12a0f0b591b6fe8a76e97465fdde55612f4bc48a70ab7c06518a38e
3
+ size 24583405
videos/observation.images.wrist_cam/chunk-006/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ee836f725662850c718fd8bc2ff921756fd246406c2f15fa194627f9c7c6683a
3
+ size 21576863
videos/observation.images.wrist_cam/chunk-007/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e443df4afe45c88b034ce05744412dfaa74af8700e45002925bc7c78f04aa95b
3
+ size 21688407
videos/observation.images.wrist_cam/chunk-008/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:60eccb0b2cf507e3fdeab9e201beb82f5e40066c6d6d0a84110284c017e2c27a
3
+ size 21739483
videos/observation.images.wrist_cam/chunk-009/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:62dcb0834d4b227ac836dcfc4d0b436a7e0553c0176c758a763f7647c6c69baa
3
+ size 17878799