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Datasets:
mkkimuser
/
pick_nut

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
robotis
LeRobot
ALICEM1
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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  1. README.md +201 -0
  2. data/chunk-000/episode_000001.parquet +3 -0
  3. data/chunk-000/episode_000004.parquet +3 -0
  4. data/chunk-000/episode_000006.parquet +3 -0
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  24. meta/info.json +165 -0
  25. meta/modality.json +64 -0
  26. meta/tasks.jsonl +1 -0
  27. videos/chunk-000/observation.images.left_view/episode_000000.mp4 +3 -0
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README.md ADDED
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1
+ ---
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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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+ - robotis
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+ - LeRobot
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+ - ALICEM1
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
12
+ ---
13
+
14
+ This dataset was created using [Physical AI Tools](https://github.com/ROBOTIS-GIT/physical_ai_tools) and [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
18
+
19
+
20
+ - **Homepage:** [More Information Needed]
21
+ - **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):
26
+ ```json
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+ {
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+ "codebase_version": "v2.0",
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+ "robot_type": "ALICEM1",
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+ "total_episodes": 60,
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+ "total_frames": 18424,
32
+ "total_tasks": 1,
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+ "total_videos": 60,
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+ "total_chunks": 1,
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+ "chunks_size": 1000,
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+ "fps": 30,
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+ "splits": {
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+ "train": "0:60"
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+ },
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+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+ "features": {
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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 31
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+ ],
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+ "names": {
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+ "motors": [
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+ "l_sh_p",
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+ "l_sh_r",
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+ "l_sh_y",
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+ "l_el_p",
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+ "l_wr_y",
55
+ "l_wr_p",
56
+ "l_wr_r",
57
+ "l_hand_index",
58
+ "l_hand_middle",
59
+ "l_hand_pinky",
60
+ "l_hand_ring",
61
+ "l_hand_thumb_y",
62
+ "l_hand_thumb_p",
63
+ "r_sh_p",
64
+ "r_sh_r",
65
+ "r_sh_y",
66
+ "r_el_p",
67
+ "r_wr_y",
68
+ "r_wr_p",
69
+ "r_wr_r",
70
+ "r_hand_index",
71
+ "r_hand_middle",
72
+ "r_hand_pinky",
73
+ "r_hand_ring",
74
+ "r_hand_thumb_y",
75
+ "r_hand_thumb_p",
76
+ "head_y",
77
+ "head_p",
78
+ "waist_y",
79
+ "waist_upper_p",
80
+ "waist_lower_p"
81
+ ]
82
+ }
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+ },
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 31
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+ ],
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+ "names": {
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+ "motors": [
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+ "l_sh_p",
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+ "l_sh_r",
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+ "l_sh_y",
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+ "l_el_p",
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+ "l_wr_y",
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+ "l_wr_p",
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+ "l_wr_r",
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+ "l_hand_index",
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+ "l_hand_middle",
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+ "l_hand_pinky",
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+ "l_hand_ring",
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+ "l_hand_thumb_y",
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+ "l_hand_thumb_p",
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+ "r_sh_p",
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+ "r_sh_r",
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+ "r_sh_y",
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+ "r_el_p",
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+ "r_wr_y",
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+ "r_wr_p",
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+ "r_wr_r",
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+ "r_hand_index",
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+ "r_hand_middle",
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+ "r_hand_pinky",
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+ "r_hand_ring",
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+ "r_hand_thumb_y",
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+ "r_hand_thumb_p",
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+ "head_y",
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+ "head_p",
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+ "waist_y",
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+ "waist_upper_p",
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+ "waist_lower_p"
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+ ]
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+ }
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+ },
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+ "observation.images.left_view": {
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+ "dtype": "video",
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+ "shape": [
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+ 360,
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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.fps": 30.0,
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+ "video.height": 360,
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+ "video.width": 640,
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+ "video.channels": 3,
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+ "video.codec": "h264",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "frame_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "episode_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "task_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "annotation.human.task_description": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ }
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+ }
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+ }
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+ ```
193
+
194
+
195
+ ## Citation
196
+
197
+ **BibTeX:**
198
+
199
+ ```bibtex
200
+ [More Information Needed]
201
+ ```
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