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Datasets:
jae0311
/
serving_with_palm

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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  1. README.md +169 -0
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  50. videos/observation.images.top/chunk-000/file-001.mp4 +3 -0
README.md ADDED
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
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+ ---
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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+
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+ <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=jae0311/serving_20260527_140234">
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+ <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
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+ <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
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+ </a>
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+
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+
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+ ## Dataset Description
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+
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+
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+
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+ - **Homepage:** [More Information Needed]
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+ - **Paper:** [More Information Needed]
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+ - **License:** apache-2.0
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+
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+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
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+ ```json
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+ {
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+ "codebase_version": "v3.0",
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+ "fps": 30,
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+ "features": {
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+ "action": {
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+ "dtype": "float32",
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+ "names": [
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+ "shoulder_pan.pos",
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+ "shoulder_lift.pos",
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+ "elbow_flex.pos",
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+ "wrist_flex.pos",
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+ "wrist_roll.pos",
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+ "gripper.pos"
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+ ],
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+ "shape": [
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+ 6
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+ ]
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+ },
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+ "observation.state": {
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+ "dtype": "float32",
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+ "names": [
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+ "shoulder_pan.pos",
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+ "shoulder_lift.pos",
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+ "elbow_flex.pos",
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+ "wrist_flex.pos",
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+ "wrist_roll.pos",
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+ "gripper.pos"
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+ ],
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+ "shape": [
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+ 6
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+ ]
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+ },
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+ "observation.images.top": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.wrist": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ ],
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ }
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+ "names": null
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+ }
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+ },
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+ "total_episodes": 267,
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+ "total_tasks": 1,
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+ "chunks_size": 1000,
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+ "data_files_size_in_mb": 100,
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+ "video_files_size_in_mb": 200,
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+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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+ "robot_type": "omx_follower",
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+ "splits": {
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+ "train": "0:267"
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+ }
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+ }
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+ ```
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+
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+
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+ ## Citation
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+
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+ **BibTeX:**
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+
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+ ```bibtex
168
+ [More Information Needed]
169
+ ```
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+ [
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+ [
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+ },
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+ "episode_index": {
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+ "min": [
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+ 0
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+ ],
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+ "max": [
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+ 266
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+ ],
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+ "mean": [
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+ 134.29595629828367
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+ ],
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+ "std": [
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+ 78.88842324272066
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+ ],
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+ "count": [
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+ ]
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+ }
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+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d4bc9f23ba9bc45f87c44af9c98375f17b480a307ca1fc8a843264666fc3a06b
3
+ size 2258
videos/add_marker.py ADDED
@@ -0,0 +1,63 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ """
2
+ Add a colored square marker to the top-right corner of a video.
3
+ Usage: python add_marker.py --color blue|red [--size N] input.mp4 output.mp4
4
+ """
5
+ import argparse
6
+ import subprocess
7
+ import sys
8
+ from pathlib import Path
9
+
10
+
11
+ COLOR_MAP = {
12
+ "blue": "0x0000FF",
13
+ "red": "0xFF0000",
14
+ }
15
+
16
+ # For 640x480: place an 80x80 square 10px from the right and top edges
17
+ # This puts it well outside the typical table/workspace area
18
+ DEFAULT_SIZE = 80
19
+ DEFAULT_X_OFFSET = 10 # from right edge
20
+ DEFAULT_Y_OFFSET = 10 # from top edge
21
+
22
+
23
+ def add_marker(input_path: Path, output_path: Path, color: str, size: int, x_offset: int, y_offset: int):
24
+ probe = subprocess.run(
25
+ ["ffprobe", "-v", "quiet", "-print_format", "json", "-show_streams", str(input_path)],
26
+ capture_output=True, text=True, check=True,
27
+ )
28
+ import json
29
+ width = int(json.loads(probe.stdout)["streams"][0]["width"])
30
+
31
+ x = width - size - x_offset
32
+ y = y_offset
33
+ hex_color = COLOR_MAP[color]
34
+
35
+ drawbox = f"drawbox=x={x}:y={y}:w={size}:h={size}:color={hex_color}:t=fill"
36
+
37
+ cmd = [
38
+ "ffmpeg", "-y",
39
+ "-i", str(input_path),
40
+ "-vf", drawbox,
41
+ "-c:v", "libx264", # re-encode as H.264 so VLC can play it easily
42
+ "-crf", "18",
43
+ "-preset", "fast",
44
+ "-an",
45
+ str(output_path),
46
+ ]
47
+ print(f"Marker: {color} square {size}x{size} at x={x}, y={y}")
48
+ print(f"Running: {' '.join(cmd)}")
49
+ subprocess.run(cmd, check=True)
50
+ print(f"Done → {output_path}")
51
+
52
+
53
+ if __name__ == "__main__":
54
+ parser = argparse.ArgumentParser()
55
+ parser.add_argument("input", type=Path)
56
+ parser.add_argument("output", type=Path)
57
+ parser.add_argument("--color", choices=["blue", "red"], default="blue")
58
+ parser.add_argument("--size", type=int, default=DEFAULT_SIZE)
59
+ parser.add_argument("--x_offset", type=int, default=DEFAULT_X_OFFSET)
60
+ parser.add_argument("--y_offset", type=int, default=DEFAULT_Y_OFFSET)
61
+ args = parser.parse_args()
62
+
63
+ add_marker(args.input, args.output, args.color, args.size, args.x_offset, args.y_offset)
videos/add_task_markers.py ADDED
@@ -0,0 +1,102 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ """
2
+ Add colored square markers to observation.images.top videos based on task type:
3
+ - BLUE: serve cup to the left / serve cup to the left and place plate at center
4
+ - RED: serve cup to the right / serve cup to the right and place plate at center
5
+ - No marker: other tasks (place plate at center, return to home)
6
+
7
+ Overwrites the original video files in-place.
8
+ """
9
+ import os
10
+ import shutil
11
+ import subprocess
12
+ from pathlib import Path
13
+
14
+ import pandas as pd
15
+
16
+ DATASET_ROOT = Path("/home/jr/ws2/lerobot/datasets/serving_with_palm")
17
+ VIDEO_DIR = DATASET_ROOT / "videos/observation.images.top/chunk-000"
18
+ EP_DIR = DATASET_ROOT / "meta/episodes/chunk-000"
19
+
20
+ BLUE_TASKS = {"serve cup to the left", "serve cup to the left and place plate at center"}
21
+ RED_TASKS = {"serve cup to the right", "serve cup to the right and place plate at center"}
22
+
23
+ MARKER_SIZE = 100
24
+ VID_WIDTH = 640
25
+ X = VID_WIDTH - MARKER_SIZE - 10 # 530
26
+ Y = 10
27
+
28
+
29
+ def build_drawbox(color_hex: str, ranges: list[tuple]) -> str:
30
+ enable = "+".join(f"between(t,{t0:.6f},{t1:.6f})" for t0, t1 in ranges)
31
+ return (
32
+ f"drawbox=x={X}:y={Y}:w={MARKER_SIZE}:h={MARKER_SIZE}"
33
+ f":color={color_hex}:t=fill:enable='{enable}'"
34
+ )
35
+
36
+
37
+ def process_video(vid_file: Path, blue_ranges: list, red_ranges: list):
38
+ filters = []
39
+ if blue_ranges:
40
+ filters.append(build_drawbox("0x0000FF", blue_ranges))
41
+ if red_ranges:
42
+ filters.append(build_drawbox("0xFF0000", red_ranges))
43
+
44
+ vf = ",".join(filters)
45
+ tmp = vid_file.with_suffix(".tmp.mp4")
46
+
47
+ cmd = [
48
+ "ffmpeg", "-y",
49
+ "-i", str(vid_file),
50
+ "-vf", vf,
51
+ "-c:v", "libx264", "-crf", "18", "-preset", "fast",
52
+ "-an",
53
+ str(tmp),
54
+ ]
55
+ result = subprocess.run(cmd, capture_output=True, text=True)
56
+ if result.returncode != 0:
57
+ print(f" ERROR: {result.stderr[-500:]}")
58
+ tmp.unlink(missing_ok=True)
59
+ return False
60
+
61
+ shutil.move(str(tmp), str(vid_file))
62
+ return True
63
+
64
+
65
+ def main():
66
+ # Load all episode metadata
67
+ all_rows = []
68
+ for f in sorted(os.listdir(EP_DIR)):
69
+ all_rows.append(pd.read_parquet(EP_DIR / f))
70
+ episodes = pd.concat(all_rows).reset_index(drop=True)
71
+
72
+ file_idx_col = "videos/observation.images.top/file_index"
73
+ from_col = "videos/observation.images.top/from_timestamp"
74
+ to_col = "videos/observation.images.top/to_timestamp"
75
+
76
+ # Group by video file index
77
+ for file_idx, group in episodes.groupby(file_idx_col):
78
+ vid_file = VIDEO_DIR / f"file-{int(file_idx):03d}.mp4"
79
+ if not vid_file.exists():
80
+ print(f"SKIP {vid_file.name}: file not found")
81
+ continue
82
+
83
+ blue_ranges, red_ranges = [], []
84
+ for _, row in group.iterrows():
85
+ task = row["tasks"][0]
86
+ t0, t1 = row[from_col], row[to_col]
87
+ if task in BLUE_TASKS:
88
+ blue_ranges.append((t0, t1))
89
+ elif task in RED_TASKS:
90
+ red_ranges.append((t0, t1))
91
+
92
+ if not blue_ranges and not red_ranges:
93
+ print(f"SKIP {vid_file.name}: no color markers needed")
94
+ continue
95
+
96
+ print(f"Processing {vid_file.name}: {len(blue_ranges)} blue, {len(red_ranges)} red segments ...")
97
+ ok = process_video(vid_file, blue_ranges, red_ranges)
98
+ print(f" {'OK' if ok else 'FAILED'} → {vid_file.name}")
99
+
100
+
101
+ if __name__ == "__main__":
102
+ main()
videos/observation.images.top/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:292e138520f5917c5669713600da2307169d0b56ed5b2e9f64d1c0e7892d4300
3
+ size 32630084
videos/observation.images.top/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:f68902297ad1f4f8545c65f40c6f74918e2f0bce48c5d49ac0755cea74c3c3a2
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+ size 62786122