Hugging Face's logo

Datasets:
glannuzel
/
eval_grab_cube_fixed_head

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
 Community
glannuzel commited on
Commit
7ff6962
·
verified ·
1 Parent(s): 6b8eef4

Upload folder using huggingface_hub

Browse files
Files changed (10) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. data/chunk-000/episode_000001.parquet +3 -0
  3. meta/episodes.jsonl +2 -0
  4. meta/episodes_stats.jsonl +2 -0
  5. meta/info.json +157 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.teleop_left/episode_000000.mp4 +3 -0
  8. videos/chunk-000/observation.images.teleop_left/episode_000001.mp4 +3 -0
  9. videos/chunk-000/observation.images.teleop_right/episode_000000.mp4 +3 -0
  10. videos/chunk-000/observation.images.teleop_right/episode_000001.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 sha256:2b610eb5d02564574f2897993b4f2c5bbd784575d5d14a5e3bd4bec6caab4119
3
+ size 32282
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6cc9f2d1106c1f9aca5be582684802dad0178e367c099b7b280c925bc22fc62d
3
+ size 32817
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab a cube with Reachy 2"], "length": 145}
2
+ {"episode_index": 1, "tasks": ["Grab a cube with Reachy 2"], "length": 150}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [0.9367418885231018, 26.095272064208984, -2.066176652908325, -2.540933609008789, 0.3779449462890625, 16.062549591064453, -68.91630554199219, -3.057161331176758, -0.6190977096557617, -18.464427947998047, -0.4030723571777344, 38.07129669189453, 7.010361671447754, -9.780862808227539, -115.58525848388672, 35.80693435668945, -3.71109938621521, 6.020211696624756, 130.0, 24.169921875, -2.460930585861206], "max": [0.9367418885231018, 26.095272064208984, -2.066176414489746, -0.485567569732666, 0.8662044405937195, 17.247465133666992, -67.63478088378906, -2.1134729385375977, 0.3544585704803467, -17.65830421447754, 3.8122787475585938, 38.190345764160156, 7.046286106109619, -9.530461311340332, -115.30210876464844, 36.2368278503418, -3.5574281215667725, 6.498009204864502, 130.0, 24.169921875, -2.460930585861206], "mean": [0.9367427229881287, 26.095232009887695, -2.0661749839782715, -1.4516127109527588, 0.649280846118927, 16.789955139160156, -68.27696228027344, -2.6283938884735107, -0.2547405958175659, -18.089479446411133, 2.191404104232788, 38.14216232299805, 7.027355194091797, -9.685531616210938, -115.43714904785156, 36.038002014160156, -3.6357333660125732, 6.218111038208008, 130.0, 24.169921875, -2.46093487739563], "std": [8.344650268554688e-07, 4.00543212890625e-05, 1.6674025573593099e-06, 0.5296319127082825, 0.13881337642669678, 0.4113551378250122, 0.35019388794898987, 0.249247744679451, 0.2582491636276245, 0.1911798119544983, 1.1975759267807007, 0.021202614530920982, 0.009346465580165386, 0.051910873502492905, 0.06688163429498672, 0.1076679602265358, 0.042761970311403275, 0.10088158398866653, 0.0, 0.0, 4.291534423828125e-06], "count": [145]}, "observation.state": {"min": [8.878861262928694e-05, 24.99996566772461, -2.13702654838562, -2.400851011276245, 0.4050201177597046, -10.000123977661133, -90.00076293945312, -3.056363582611084, -0.7133909463882446, -18.472883224487305, -0.4394543766975403, -2.5163855752907693e-05, -10.0017671585083, -9.7656831741333, -115.577880859375, 0.0003732215554919094, -3.760289430618286, -0.00024983391631394625, 129.90234375, 25.048830032348633, -2.2851626873016357], "max": [0.9545276761054993, 26.113962173461914, 0.00014107069000601768, -0.00014019862283021212, 10.001263618469238, 17.227075576782227, -67.74334716796875, 0.030480707064270973, 0.29207098484039307, 0.022148853167891502, 129.990234375, 38.19279479980469, 7.048830032348633, 9.997936248779297, -90.0013198852539, 36.236995697021484, -3.63192411896307e-05, 6.471617698669434, 129.990234375, 26.8066349029541, -1.1425813436508179], "mean": [0.9164243340492249, 26.072038650512695, -2.025963306427002, -1.4233206510543823, 0.8853835463523865, 16.099946975708008, -68.87179565429688, -2.5653369426727295, -0.26900267601013184, -17.693269729614258, 6.2856950759887695, 37.12104034423828, 6.525121212005615, -9.15491008758545, -114.781005859375, 35.31962203979492, -3.5633385181427, 6.078267574310303, 129.98780822753906, 25.40160369873047, -2.234849452972412], "std": [0.13074086606502533, 0.1525270938873291, 0.2884448766708374, 0.5508413314819336, 1.3467379808425903, 3.954188585281372, 3.2593894004821777, 0.442511647939682, 0.2576550841331482, 2.521916389465332, 20.98459815979004, 5.5876994132995605, 2.6581156253814697, 2.9165847301483154, 3.671715497970581, 4.731200218200684, 0.500534176826477, 0.8625870943069458, 0.014395073056221008, 0.21279464662075043, 0.20766624808311462], "count": [145]}, "observation.images.teleop_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4428990972222222]], [[0.43764258169934644]], [[0.38848204656862745]]], "std": [[[0.26033137632505443]], [[0.256937312367596]], [[0.277437879093323]]], "count": [100]}, "observation.images.teleop_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45526518586601306]], [[0.4390395138888889]], [[0.39718432189542485]]], "std": [[[0.26108033621356874]], [[0.25477252632471525]], [[0.27448329262830795]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.6], "mean": [4.8], "std": [2.79045993819418], "count": [145]}, "frame_index": {"min": [0], "max": [144], "mean": [72.0], "std": [41.8568990729127], "count": [145]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [145]}, "index": {"min": [0], "max": [144], "mean": [72.0], "std": [41.8568990729127], "count": [145]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [145]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [0.9367418885231018, 26.095272064208984, -2.066176652908325, -3.139129877090454, 0.40547847747802734, 15.870841026306152, -68.57722473144531, -3.0795674324035645, -0.23886537551879883, -18.54469108581543, 0.15199661254882812, 38.05942916870117, 7.013018608093262, -9.727339744567871, -115.57319641113281, 35.54475021362305, -3.620900869369507, 6.140350818634033, 130.0, 24.169921875, -2.460930585861206], "max": [0.9367418885231018, 26.095272064208984, -2.066176652908325, -0.545750617980957, 0.6691561937332153, 16.676679611206055, -66.79437255859375, -2.2746124267578125, 0.6907119750976562, -17.985252380371094, 4.223747253417969, 38.19147491455078, 7.052010536193848, -9.47271728515625, -115.31195068359375, 36.09718322753906, -3.523627281188965, 6.6552653312683105, 130.0, 24.169921875, -2.460930585861206], "mean": [0.9367425441741943, 26.095232009887695, -2.0661745071411133, -1.7997853755950928, 0.5469245314598083, 16.26600456237793, -67.77547454833984, -2.7546074390411377, 0.21602894365787506, -18.29522705078125, 2.5426671504974365, 38.127811431884766, 7.0320143699646, -9.591711044311523, -115.43704223632812, 35.85096740722656, -3.577040195465088, 6.4211578369140625, 130.0, 24.169921875, -2.46093487739563], "std": [6.556510925292969e-07, 4.00543212890625e-05, 2.1457672119140625e-06, 0.6970915794372559, 0.06473879516124725, 0.20281709730625153, 0.523607611656189, 0.18661268055438995, 0.27510643005371094, 0.12386069446802139, 1.2369883060455322, 0.023877305909991264, 0.010743120685219765, 0.07015103846788406, 0.06616443395614624, 0.16035039722919464, 0.025866853073239326, 0.13802470266819, 0.0, 0.0, 4.291534423828125e-06], "count": [150]}, "observation.state": {"min": [0.9091854691505432, 26.065933227539062, -2.095149517059326, -2.9977269172668457, 0.422185480594635, -10.002764701843262, -89.99944305419922, -3.088273763656616, -0.3119409680366516, -18.552213668823242, 0.0, 38.056121826171875, 6.933282852172852, -9.72144603729248, -115.57061004638672, 35.53851318359375, -3.65326189994812, 6.168960094451904, 129.90234375, 25.312503814697266, -2.2851626873016357], "max": [0.9542492628097534, 26.113962173461914, -2.015138626098633, 0.0018405562732368708, 10.003905296325684, 16.61699867248535, -66.92396545410156, 0.032898422330617905, 0.7118887305259705, 0.023319795727729797, 129.90234375, 38.168365478515625, 7.089102745056152, -9.467240333557129, -115.32830047607422, 36.11495590209961, -3.512286424636841, 6.638514995574951, 129.990234375, 25.751956939697266, -2.1972718238830566], "mean": [0.9377848505973816, 26.096385955810547, -2.066444158554077, -1.7669979333877563, 0.7492035627365112, 15.66101360321045, -68.30345153808594, -2.703024387359619, 0.20004551112651825, -17.962257385253906, 6.252539157867432, 38.1274299621582, 7.031704902648926, -9.592460632324219, -115.43708038330078, 35.852256774902344, -3.5761678218841553, 6.421258449554443, 129.98788452148438, 25.720314025878906, -2.2834012508392334], "std": [0.016266748309135437, 0.01717168465256691, 0.02749897539615631, 0.7209675908088684, 1.2404879331588745, 3.5870683193206787, 3.117265224456787, 0.3941812515258789, 0.28507062792778015, 2.2951440811157227, 19.9832763671875, 0.023343831300735474, 0.01656555011868477, 0.07007689774036407, 0.06292234361171722, 0.1610444188117981, 0.03179455175995827, 0.13708768784999847, 0.014159808866679668, 0.08073202520608902, 0.01230472233146429], "count": [150]}, "observation.images.teleop_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4421073958333333]], [[0.4371156433823529]], [[0.38749689338235294]]], "std": [[[0.26077459043129547]], [[0.25733141439424073]], [[0.2778981090110093]]], "count": [100]}, "observation.images.teleop_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45507898284313725]], [[0.43904776143790847]], [[0.3969534803921569]]], "std": [[[0.26136282599846133]], [[0.2550136049409996]], [[0.274862522119866]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.933333333333334], "mean": [4.966666666666666], "std": [2.886687195205425], "count": [150]}, "frame_index": {"min": [0], "max": [149], "mean": [74.5], "std": [43.300307928081374], "count": [150]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [150]}, "index": {"min": [145], "max": [294], "mean": [219.5], "std": [43.300307928081374], "count": [150]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [150]}}}
meta/info.json ADDED
@@ -0,0 +1,157 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "reachy2",
4
+ "total_episodes": 2,
5
+ "total_frames": 295,
6
+ "total_tasks": 1,
7
+ "total_videos": 4,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 15,
11
+ "splits": {
12
+ "train": "0:2"
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
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 21
21
+ ],
22
+ "names": [
23
+ "neck_yaw.pos",
24
+ "neck_pitch.pos",
25
+ "neck_roll.pos",
26
+ "r_shoulder_pitch.pos",
27
+ "r_shoulder_roll.pos",
28
+ "r_elbow_yaw.pos",
29
+ "r_elbow_pitch.pos",
30
+ "r_wrist_roll.pos",
31
+ "r_wrist_pitch.pos",
32
+ "r_wrist_yaw.pos",
33
+ "r_gripper.pos",
34
+ "l_shoulder_pitch.pos",
35
+ "l_shoulder_roll.pos",
36
+ "l_elbow_yaw.pos",
37
+ "l_elbow_pitch.pos",
38
+ "l_wrist_roll.pos",
39
+ "l_wrist_pitch.pos",
40
+ "l_wrist_yaw.pos",
41
+ "l_gripper.pos",
42
+ "l_antenna.pos",
43
+ "r_antenna.pos"
44
+ ]
45
+ },
46
+ "observation.state": {
47
+ "dtype": "float32",
48
+ "shape": [
49
+ 21
50
+ ],
51
+ "names": [
52
+ "neck_yaw.pos",
53
+ "neck_pitch.pos",
54
+ "neck_roll.pos",
55
+ "r_shoulder_pitch.pos",
56
+ "r_shoulder_roll.pos",
57
+ "r_elbow_yaw.pos",
58
+ "r_elbow_pitch.pos",
59
+ "r_wrist_roll.pos",
60
+ "r_wrist_pitch.pos",
61
+ "r_wrist_yaw.pos",
62
+ "r_gripper.pos",
63
+ "l_shoulder_pitch.pos",
64
+ "l_shoulder_roll.pos",
65
+ "l_elbow_yaw.pos",
66
+ "l_elbow_pitch.pos",
67
+ "l_wrist_roll.pos",
68
+ "l_wrist_pitch.pos",
69
+ "l_wrist_yaw.pos",
70
+ "l_gripper.pos",
71
+ "l_antenna.pos",
72
+ "r_antenna.pos"
73
+ ]
74
+ },
75
+ "observation.images.teleop_left": {
76
+ "dtype": "video",
77
+ "shape": [
78
+ 480,
79
+ 640,
80
+ 3
81
+ ],
82
+ "names": [
83
+ "height",
84
+ "width",
85
+ "channels"
86
+ ],
87
+ "info": {
88
+ "video.height": 480,
89
+ "video.width": 640,
90
+ "video.codec": "av1",
91
+ "video.pix_fmt": "yuv420p",
92
+ "video.is_depth_map": false,
93
+ "video.fps": 15,
94
+ "video.channels": 3,
95
+ "has_audio": false
96
+ }
97
+ },
98
+ "observation.images.teleop_right": {
99
+ "dtype": "video",
100
+ "shape": [
101
+ 480,
102
+ 640,
103
+ 3
104
+ ],
105
+ "names": [
106
+ "height",
107
+ "width",
108
+ "channels"
109
+ ],
110
+ "info": {
111
+ "video.height": 480,
112
+ "video.width": 640,
113
+ "video.codec": "av1",
114
+ "video.pix_fmt": "yuv420p",
115
+ "video.is_depth_map": false,
116
+ "video.fps": 15,
117
+ "video.channels": 3,
118
+ "has_audio": false
119
+ }
120
+ },
121
+ "timestamp": {
122
+ "dtype": "float32",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ },
128
+ "frame_index": {
129
+ "dtype": "int64",
130
+ "shape": [
131
+ 1
132
+ ],
133
+ "names": null
134
+ },
135
+ "episode_index": {
136
+ "dtype": "int64",
137
+ "shape": [
138
+ 1
139
+ ],
140
+ "names": null
141
+ },
142
+ "index": {
143
+ "dtype": "int64",
144
+ "shape": [
145
+ 1
146
+ ],
147
+ "names": null
148
+ },
149
+ "task_index": {
150
+ "dtype": "int64",
151
+ "shape": [
152
+ 1
153
+ ],
154
+ "names": null
155
+ }
156
+ }
157
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grab a cube with Reachy 2"}
videos/chunk-000/observation.images.teleop_left/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f06c6331b974d48c95ce0a087c85cdba0b9bdab83bbba71e452f138861e2b6b5
3
+ size 2328882
videos/chunk-000/observation.images.teleop_left/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e2d5fb8ef87d79722b4835f12e76ccd4ceee6cd4ac150a96e8c0cf5b0db8ce24
3
+ size 2393235
videos/chunk-000/observation.images.teleop_right/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d7c3251302e5405adfd7039fed1046bd48aa7cb889b3138e03091eb5bcb4c589
3
+ size 1919542
videos/chunk-000/observation.images.teleop_right/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f6f77bb51f2450bc777d204b16d9b4dab484ce19eb865bf505cf2b10e964fced
3
+ size 1968462