Hugging Face's logo

Datasets:
jccj
/
random_mh2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
jccj commited on
Commit
5c9d531
·
verified ·
1 Parent(s): 4d1fce2

Upload folder using huggingface_hub

Browse files
Files changed (13) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. meta/blacklist.json +1 -0
  3. meta/episode_mapping.json +3 -0
  4. meta/episodes.jsonl +1 -0
  5. meta/episodes_stats.jsonl +1 -0
  6. meta/info.json +244 -0
  7. meta/pipeline_config.json +25 -0
  8. meta/tasks.jsonl +1 -0
  9. videos/chunk-000/observation.images.depth_left/episode_000000.mp4 +3 -0
  10. videos/chunk-000/observation.images.depth_right/episode_000000.mp4 +3 -0
  11. videos/chunk-000/observation.images.rgb_left/episode_000000.mp4 +3 -0
  12. videos/chunk-000/observation.images.rgb_right/episode_000000.mp4 +3 -0
  13. videos/chunk-000/observation.images.rgb_static/episode_000000.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:a4aa2464ec87627c9632605db36ed202cad227f4119c39b1c1d6bd18d7172b83
3
+ size 21466
meta/blacklist.json ADDED
@@ -0,0 +1 @@
 
 
1
+ []
meta/episode_mapping.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "0": "data/wandb/artifacts/hackathon_data:v0/episodes/episodes_0.mcap"
3
+ }
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["random actions"], "length": 94}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "stats": {"observation.state": {"min": [-0.26653429865837097, -0.724796712398529, 0.28431254625320435, -2.3095645904541016, -2.0381035804748535, 3.6354405879974365, 1.4356645345687866, -0.1892031878232956, -1.0228630304336548, -0.9772369265556335, -1.997822880744934, -0.29251793026924133, 3.0494227409362793, -1.3404027223587036, -0.049444764852523804, 0.7499547600746155, 0.3997038006782532, 0.4125247597694397, 0.7237789034843445, 0.25536051392555237, 0.21762967109680176, 0.3027494549751282, 0.7834058403968811, 0.24093002080917358, -0.00011555745732039213, -0.9615266919136047, -0.07646871358156204, 0.26385411620140076, 0.034926459193229675, 0.034926459193229675, 0.03507420793175697, 0.03507420793175697, -0.060576874762773514, 0.707411527633667, 0.3976793885231018, 0.23734498023986816, 0.7656878232955933, 0.22023417055606842, 0.1286703497171402, 0.3022797703742981, 0.7852925062179565, 0.24264682829380035, 0.00755270617082715, -0.9603336453437805, -0.07691368460655212, 0.26793017983436584], "max": [0.22338715195655823, -0.4278302490711212, 0.5589438676834106, -1.6311490535736084, -0.6988386511802673, 3.643242359161377, 2.7409398555755615, -0.1851395219564438, -1.0195717811584473, -0.9739643335342407, -1.994085431098938, -0.2899966239929199, 3.0546681880950928, -1.339703917503357, 0.031245175749063492, 0.8178889751434326, 0.4400050938129425, 0.57045578956604, 0.8011715412139893, 0.3214990198612213, 0.3476233184337616, 0.30912673473358154, 0.7841216921806335, 0.24154582619667053, 0.0033745672553777695, -0.96037757396698, -0.0741880014538765, 0.26862552762031555, 0.03492744266986847, 0.03492744266986847, 0.03507453575730324, 0.03507453575730324, 0.013523933477699757, 0.8054408431053162, 0.4466061294078827, 0.5427401661872864, 0.8885164856910706, 0.3710118532180786, 0.3266831040382385, 0.3022797703742981, 0.7852925062179565, 0.24264682829380035, 0.007552728988230228, -0.9603336453437805, -0.07691367715597153, 0.26793017983436584], "mean": [0.10557668656110764, -0.5936682224273682, 0.3437099754810333, -2.1075387001037598, -1.0646238327026367, 3.641251564025879, 1.807823657989502, -0.1869315356016159, -1.0202994346618652, -0.9746067523956299, -1.9970132112503052, -0.2904265522956848, 3.0522406101226807, -1.3400895595550537, 0.00238807313144207, 0.7702221274375916, 0.4320714771747589, 0.5305503010749817, 0.7516546249389648, 0.299349308013916, 0.24714909493923187, 0.3039395213127136, 0.7837797403335571, 0.24139954149723053, 0.0024429725017398596, -0.960671067237854, -0.07505959272384644, 0.26733678579330444, 0.034926917403936386, 0.034926917403936386, 0.035074327141046524, 0.035074327141046524, -0.019047435373067856, 0.7538750171661377, 0.43209072947502136, 0.3668367862701416, 0.8412171006202698, 0.30112224817276, 0.20825348794460297, 0.3022800087928772, 0.78529292345047, 0.24264702200889587, 0.00755272526293993, -0.9603341817855835, -0.0769137293100357, 0.26793041825294495], "std": [0.17751160264015198, 0.06129499524831772, 0.09273194521665573, 0.3008359372615814, 0.5459878444671631, 0.001404471811838448, 0.5535072684288025, 0.0008568348130211234, 0.001065854448825121, 0.0010315829422324896, 0.0011373489396646619, 0.0007086332188919187, 0.0009497297578491271, 0.0002671107358764857, 0.0139200733974576, 0.03013809211552143, 0.011982617899775505, 0.03128594532608986, 0.015821846202015877, 0.021934770047664642, 0.0335921011865139, 0.0018771124305203557, 0.00011444159463280812, 0.00019167378195561469, 0.000895397737622261, 0.0003058049769606441, 0.0004683992883656174, 0.001229408080689609, 2.1489591972567723e-07, 2.1489591972567723e-07, 1.545214587395094e-07, 1.545214587395094e-07, 0.014103001914918423, 0.03823355212807655, 0.014891253784298897, 0.1185929924249649, 0.04986225441098213, 0.05814100429415703, 0.06171685829758644, 2.384185791015625e-07, 4.172325134277344e-07, 1.9371509552001953e-07, 7.250037459272107e-09, 5.364418029785156e-07, 5.103812839024613e-08, 2.384185791015625e-07], "count": [94]}, "action": {"min": [-0.021132227033376694, -0.027573227882385254, -0.0016790926456451416, -0.001181358122266829, -0.05553889274597168, -0.004198343493044376, 0.0, 0.0, 0.0, -9.56902646009894e-09, -1.4735416220545972e-09, -2.3077441599264852e-18, 0.0, 0.0], "max": [0.008264231495559216, 0.0016278624534606934, 0.015018165111541748, 0.027576638385653496, 0.018679309636354446, 0.26085901260375977, 0.0, 0.0, 0.0, 2.744823479616798e-09, 4.8819895350414274e-17, 2.09856967359201e-08, 0.0, 0.0], "mean": [0.0004784321354236454, -0.0009256500052288175, 0.00043075293069705367, 0.0023043975234031677, 0.001350904698483646, 0.007660646922886372, 0.0, 0.0, 0.0, -2.2161104548668042e-11, -3.8537069368960175e-11, 5.086926435637906e-10, 0.0, 0.0], "std": [0.003159246640279889, 0.003514254931360483, 0.0017648317152634263, 0.005098862107843161, 0.008014154620468616, 0.029659351333975792, 0.0, 0.0, 0.0, 1.0833557384515302e-09, 1.9518985039379544e-10, 2.6450475143491303e-09, 0.0, 0.0], "count": [94]}, "observation.images.rgb_static": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.686766738044952]], [[0.6542125866969127]], [[0.6717098342328953]]], "std": [[[0.2966290467831287]], [[0.2824276370915429]], [[0.2942854249425647]]], "count": [94]}, "observation.images.rgb_left": {"min": [[[0.09019607843137255]], [[0.11372549019607843]], [[0.08627450980392157]]], "max": [[[0.9647058823529412]], [[0.9333333333333333]], [[0.9450980392156862]]], "mean": [[[0.5756981334089486]], [[0.47793534398466836]], [[0.43269355085784317]]], "std": [[[0.24492816325393527]], [[0.1801209339077878]], [[0.15837435673245023]]], "count": [94]}, "observation.images.rgb_right": {"min": [[[0.09411764705882353]], [[0.10980392156862745]], [[0.09019607843137255]]], "max": [[[0.9411764705882353]], [[0.7490196078431373]], [[0.7490196078431373]]], "mean": [[[0.4086082538068419]], [[0.3352928351194201]], [[0.3023696124061327]]], "std": [[[0.16596917284497031]], [[0.12840691634047136]], [[0.12335266310746847]]], "count": [94]}, "observation.images.depth_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9921568627450981]], [[0.9921568627450981]], [[0.9921568627450981]]], "mean": [[[0.18717376538381308]], [[0.18717376538381308]], [[0.18717376538381308]]], "std": [[[0.16096567766808403]], [[0.16096567766808403]], [[0.16096567766808403]]], "count": [94]}, "observation.images.depth_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.996078431372549]], [[0.996078431372549]], [[0.996078431372549]]], "mean": [[[0.09489299123904882]], [[0.09489299123904882]], [[0.09489299123904882]]], "std": [[[0.0908371190529756]], [[0.0908371190529756]], [[0.0908371190529756]]], "count": [94]}, "timestamp": {"min": [0.0], "max": [3.1], "mean": [1.5499999999999998], "std": [0.9044642367476758], "count": [94]}, "frame_index": {"min": [0], "max": [93], "mean": [46.5], "std": [27.13392710243027], "count": [94]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [94]}, "index": {"min": [0], "max": [93], "mean": [46.5], "std": [27.13392710243027], "count": [94]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [94]}}}
meta/info.json ADDED
@@ -0,0 +1,244 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": null,
4
+ "total_episodes": 1,
5
+ "total_frames": 94,
6
+ "total_tasks": 1,
7
+ "total_videos": 5,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:1"
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
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 46
21
+ ],
22
+ "names": [
23
+ "joint_pos_left_0",
24
+ "joint_pos_left_1",
25
+ "joint_pos_left_2",
26
+ "joint_pos_left_3",
27
+ "joint_pos_left_4",
28
+ "joint_pos_left_5",
29
+ "joint_pos_left_6",
30
+ "joint_pos_right_0",
31
+ "joint_pos_right_1",
32
+ "joint_pos_right_2",
33
+ "joint_pos_right_3",
34
+ "joint_pos_right_4",
35
+ "joint_pos_right_5",
36
+ "joint_pos_right_6",
37
+ "tcp_left_pos_x",
38
+ "tcp_left_pos_y",
39
+ "tcp_left_pos_z",
40
+ "tcp_left_quat_x",
41
+ "tcp_left_quat_y",
42
+ "tcp_left_quat_z",
43
+ "tcp_left_quat_w",
44
+ "tcp_right_pos_x",
45
+ "tcp_right_pos_y",
46
+ "tcp_right_pos_z",
47
+ "tcp_right_quat_x",
48
+ "tcp_right_quat_y",
49
+ "tcp_right_quat_z",
50
+ "tcp_right_quat_w",
51
+ "gripper_left_0",
52
+ "gripper_left_1",
53
+ "gripper_right_0",
54
+ "gripper_right_1",
55
+ "last_command_left_0",
56
+ "last_command_left_1",
57
+ "last_command_left_2",
58
+ "last_command_left_3",
59
+ "last_command_left_4",
60
+ "last_command_left_5",
61
+ "last_command_left_6",
62
+ "last_command_right_0",
63
+ "last_command_right_1",
64
+ "last_command_right_2",
65
+ "last_command_right_3",
66
+ "last_command_right_4",
67
+ "last_command_right_5",
68
+ "last_command_right_6"
69
+ ]
70
+ },
71
+ "action": {
72
+ "dtype": "float32",
73
+ "shape": [
74
+ 14
75
+ ],
76
+ "names": [
77
+ "delta_tcp_left_x",
78
+ "delta_tcp_left_y",
79
+ "delta_tcp_left_z",
80
+ "delta_tcp_left_rot_x",
81
+ "delta_tcp_left_rot_y",
82
+ "delta_tcp_left_rot_z",
83
+ "delta_tcp_right_x",
84
+ "delta_tcp_right_y",
85
+ "delta_tcp_right_z",
86
+ "delta_tcp_right_rot_x",
87
+ "delta_tcp_right_rot_y",
88
+ "delta_tcp_right_rot_z",
89
+ "gripper_left",
90
+ "gripper_right"
91
+ ]
92
+ },
93
+ "observation.images.rgb_static": {
94
+ "dtype": "video",
95
+ "shape": [
96
+ 640,
97
+ 640,
98
+ 3
99
+ ],
100
+ "names": [
101
+ "height",
102
+ "width",
103
+ "channel"
104
+ ],
105
+ "info": {
106
+ "video.height": 640,
107
+ "video.width": 640,
108
+ "video.codec": "av1",
109
+ "video.pix_fmt": "yuv420p",
110
+ "video.is_depth_map": false,
111
+ "video.fps": 30,
112
+ "video.channels": 3,
113
+ "has_audio": false
114
+ }
115
+ },
116
+ "observation.images.rgb_left": {
117
+ "dtype": "video",
118
+ "shape": [
119
+ 640,
120
+ 640,
121
+ 3
122
+ ],
123
+ "names": [
124
+ "height",
125
+ "width",
126
+ "channel"
127
+ ],
128
+ "info": {
129
+ "video.height": 640,
130
+ "video.width": 640,
131
+ "video.codec": "av1",
132
+ "video.pix_fmt": "yuv420p",
133
+ "video.is_depth_map": false,
134
+ "video.fps": 30,
135
+ "video.channels": 3,
136
+ "has_audio": false
137
+ }
138
+ },
139
+ "observation.images.rgb_right": {
140
+ "dtype": "video",
141
+ "shape": [
142
+ 640,
143
+ 640,
144
+ 3
145
+ ],
146
+ "names": [
147
+ "height",
148
+ "width",
149
+ "channel"
150
+ ],
151
+ "info": {
152
+ "video.height": 640,
153
+ "video.width": 640,
154
+ "video.codec": "av1",
155
+ "video.pix_fmt": "yuv420p",
156
+ "video.is_depth_map": false,
157
+ "video.fps": 30,
158
+ "video.channels": 3,
159
+ "has_audio": false
160
+ }
161
+ },
162
+ "observation.images.depth_left": {
163
+ "dtype": "video",
164
+ "shape": [
165
+ 640,
166
+ 640,
167
+ 3
168
+ ],
169
+ "names": [
170
+ "height",
171
+ "width",
172
+ "channel"
173
+ ],
174
+ "info": {
175
+ "video.height": 640,
176
+ "video.width": 640,
177
+ "video.codec": "av1",
178
+ "video.pix_fmt": "yuv420p",
179
+ "video.is_depth_map": false,
180
+ "video.fps": 30,
181
+ "video.channels": 3,
182
+ "has_audio": false
183
+ }
184
+ },
185
+ "observation.images.depth_right": {
186
+ "dtype": "video",
187
+ "shape": [
188
+ 640,
189
+ 640,
190
+ 3
191
+ ],
192
+ "names": [
193
+ "height",
194
+ "width",
195
+ "channel"
196
+ ],
197
+ "info": {
198
+ "video.height": 640,
199
+ "video.width": 640,
200
+ "video.codec": "av1",
201
+ "video.pix_fmt": "yuv420p",
202
+ "video.is_depth_map": false,
203
+ "video.fps": 30,
204
+ "video.channels": 3,
205
+ "has_audio": false
206
+ }
207
+ },
208
+ "timestamp": {
209
+ "dtype": "float32",
210
+ "shape": [
211
+ 1
212
+ ],
213
+ "names": null
214
+ },
215
+ "frame_index": {
216
+ "dtype": "int64",
217
+ "shape": [
218
+ 1
219
+ ],
220
+ "names": null
221
+ },
222
+ "episode_index": {
223
+ "dtype": "int64",
224
+ "shape": [
225
+ 1
226
+ ],
227
+ "names": null
228
+ },
229
+ "index": {
230
+ "dtype": "int64",
231
+ "shape": [
232
+ 1
233
+ ],
234
+ "names": null
235
+ },
236
+ "task_index": {
237
+ "dtype": "int64",
238
+ "shape": [
239
+ 1
240
+ ],
241
+ "names": null
242
+ }
243
+ }
244
+ }
meta/pipeline_config.json ADDED
@@ -0,0 +1,25 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "include_joint_positions": true,
3
+ "include_joint_velocities": false,
4
+ "include_joint_efforts": false,
5
+ "include_tcp_poses": true,
6
+ "include_last_command": true,
7
+ "include_rgb_images": true,
8
+ "include_depth_images": true,
9
+ "depth_scale_factor": 1000.0,
10
+ "action_level": "delta_tcp",
11
+ "left_gripper": "panda",
12
+ "right_gripper": "panda",
13
+ "task_name": "random actions",
14
+ "max_pause_seconds": 0.2,
15
+ "pause_velocity": 0.03,
16
+ "save_pauses": false,
17
+ "gripper_active_speed": 0.05,
18
+ "boost_factor": 1,
19
+ "grace_period_seconds": 0.2,
20
+ "save_normal": false,
21
+ "recording_fps": 30,
22
+ "target_fps": 10,
23
+ "subsample_offset": 0,
24
+ "min_episode_seconds": 1
25
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "random actions"}
videos/chunk-000/observation.images.depth_left/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0c88d0435e37fc66ac6bcdcc4a8b30daf28492d237a2dbcd7c08565a4f86086a
3
+ size 707989
videos/chunk-000/observation.images.depth_right/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3cac99e99b59f14ebfdf0b84f63eee93ecdf3d18800b763d99706c7458a6e68f
3
+ size 849991
videos/chunk-000/observation.images.rgb_left/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:63064cd9221393b2ff41bcaab9cc20f20b268827dd5f90118cba301f40f08a54
3
+ size 933653
videos/chunk-000/observation.images.rgb_right/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:30540ff964ca58c90253a1ddd1baa018f04d4df401614fc755a894f3110302b0
3
+ size 851978
videos/chunk-000/observation.images.rgb_static/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2640eac3a14555b7d191edfe64021ff0070868b3881a9e761043108eaa7fa71e
3
+ size 922995