Hugging Face's logo

Datasets:
namin72
/
black_cube_calib_v2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
 Community
1
namin72 commited on
Commit
b220947
·
verified ·
1 Parent(s): 129a58f

Upload folder using huggingface_hub

Browse files
Files changed (7) hide show
  1. data/chunk-000/file-000.parquet +3 -0
  2. meta/episodes/chunk-000/file-000.parquet +3 -0
  3. meta/info.json +127 -0
  4. meta/stats.json +632 -0
  5. meta/tasks.parquet +3 -0
  6. videos/observation.images.top/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.wrist/chunk-000/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 sha256:27970aa2bbee5535fcb8d28a6a069e2eb58276bfc36efd747e021e588130faee
3
+ size 618463
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:da29a09057aa395d3b7f424de45a72a462b9148e01670f7ff0ba158044fc7f5d
3
+ size 272927
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 60,
5
+ "total_frames": 10588,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:60"
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
+ "names": [
20
+ "shoulder_pan.pos",
21
+ "shoulder_lift.pos",
22
+ "elbow_flex.pos",
23
+ "wrist_flex.pos",
24
+ "wrist_roll.pos",
25
+ "gripper.pos"
26
+ ],
27
+ "shape": [
28
+ 6
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "names": [
34
+ "shoulder_pan.pos",
35
+ "shoulder_lift.pos",
36
+ "elbow_flex.pos",
37
+ "wrist_flex.pos",
38
+ "wrist_roll.pos",
39
+ "gripper.pos"
40
+ ],
41
+ "shape": [
42
+ 6
43
+ ]
44
+ },
45
+ "observation.images.top": {
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.wrist": {
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
+ }
meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "frame_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 194
8
+ ],
9
+ "mean": [
10
+ 87.8779750661126
11
+ ],
12
+ "std": [
13
+ 51.197819219568075
14
+ ],
15
+ "count": [
16
+ 10588
17
+ ],
18
+ "q01": [
19
+ 1.0090469383220033
20
+ ],
21
+ "q10": [
22
+ 17.152122274192276
23
+ ],
24
+ "q50": [
25
+ 87.62870540234198
26
+ ],
27
+ "q90": [
28
+ 158.49446083876572
29
+ ],
30
+ "q99": [
31
+ 174.74690319390305
32
+ ]
33
+ },
34
+ "episode_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 59
40
+ ],
41
+ "mean": [
42
+ 29.256139025311672
43
+ ],
44
+ "std": [
45
+ 17.30949345183338
46
+ ],
47
+ "count": [
48
+ 10588
49
+ ],
50
+ "q01": [
51
+ 29.256139025311672
52
+ ],
53
+ "q10": [
54
+ 29.25613902531168
55
+ ],
56
+ "q50": [
57
+ 29.256139025311686
58
+ ],
59
+ "q90": [
60
+ 29.256139025311697
61
+ ],
62
+ "q99": [
63
+ 29.2561390253117
64
+ ]
65
+ },
66
+ "task_index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 0
72
+ ],
73
+ "mean": [
74
+ 0.0
75
+ ],
76
+ "std": [
77
+ 0.0
78
+ ],
79
+ "count": [
80
+ 10588
81
+ ],
82
+ "q01": [
83
+ 3.999999999999418e-16
84
+ ],
85
+ "q10": [
86
+ 3.999999999999417e-15
87
+ ],
88
+ "q50": [
89
+ 1.999999999999709e-14
90
+ ],
91
+ "q90": [
92
+ 3.599999999999476e-14
93
+ ],
94
+ "q99": [
95
+ 3.959999999999423e-14
96
+ ]
97
+ },
98
+ "index": {
99
+ "min": [
100
+ 0
101
+ ],
102
+ "max": [
103
+ 10587
104
+ ],
105
+ "mean": [
106
+ 5293.5
107
+ ],
108
+ "std": [
109
+ 3056.4923114576945
110
+ ],
111
+ "count": [
112
+ 10588
113
+ ],
114
+ "q01": [
115
+ 5206.63107187221
116
+ ],
117
+ "q10": [
118
+ 5222.774147208081
119
+ ],
120
+ "q50": [
121
+ 5293.25073033623
122
+ ],
123
+ "q90": [
124
+ 5364.116485772653
125
+ ],
126
+ "q99": [
127
+ 5380.36892812779
128
+ ]
129
+ },
130
+ "timestamp": {
131
+ "min": [
132
+ 0.0
133
+ ],
134
+ "max": [
135
+ 6.466666666666667
136
+ ],
137
+ "mean": [
138
+ 2.9292658355370866
139
+ ],
140
+ "std": [
141
+ 1.7065939739856022
142
+ ],
143
+ "count": [
144
+ 10588
145
+ ],
146
+ "q01": [
147
+ 0.033634897848511904
148
+ ],
149
+ "q10": [
150
+ 0.5717374090619426
151
+ ],
152
+ "q50": [
153
+ 2.9208853393776275
154
+ ],
155
+ "q90": [
156
+ 5.283148694703198
157
+ ],
158
+ "q99": [
159
+ 5.824896773225659
160
+ ]
161
+ },
162
+ "action": {
163
+ "min": [
164
+ -42.75214385986328,
165
+ -99.83242797851562,
166
+ -92.68623352050781,
167
+ 43.84027099609375,
168
+ -13.890339851379395,
169
+ 0.0
170
+ ],
171
+ "max": [
172
+ 26.8272762298584,
173
+ 48.219520568847656,
174
+ 100.0,
175
+ 98.89550018310547,
176
+ 16.135770797729492,
177
+ 44.95699691772461
178
+ ],
179
+ "mean": [
180
+ 1.0815427075476187,
181
+ -22.366650932727786,
182
+ 7.263265030524012,
183
+ 81.76630903128007,
184
+ 1.4662347169607755,
185
+ 13.339085516048732
186
+ ],
187
+ "std": [
188
+ 14.770554858729438,
189
+ 44.21831089154286,
190
+ 44.08333135011161,
191
+ 12.787863559718616,
192
+ 4.56695554299773,
193
+ 13.301706536787004
194
+ ],
195
+ "count": [
196
+ 10588
197
+ ],
198
+ "q01": [
199
+ -28.89930762610676,
200
+ -91.24383119664583,
201
+ -57.43942539049808,
202
+ 63.552391875144686,
203
+ -4.174317814053023,
204
+ 0.6341708695026911
205
+ ],
206
+ "q10": [
207
+ -22.427090388106805,
208
+ -90.71614824606307,
209
+ -43.63538883648552,
210
+ 66.11725126555102,
211
+ -2.958066682395786,
212
+ 0.8761050565748528
213
+ ],
214
+ "q50": [
215
+ 5.805150234551528,
216
+ -9.47499526542785,
217
+ 2.462459307759729,
218
+ 81.69735437577457,
219
+ 1.3388522543450245,
220
+ 8.363979247065975
221
+ ],
222
+ "q90": [
223
+ 12.352977702639404,
224
+ 20.670043581771203,
225
+ 76.17818820752576,
226
+ 97.12883503455404,
227
+ 5.851894058750029,
228
+ 31.795077965104127
229
+ ],
230
+ "q99": [
231
+ 14.052899660574688,
232
+ 30.459176098774325,
233
+ 87.74348998945494,
234
+ 97.95904253787101,
235
+ 7.072531217885065,
236
+ 32.543005572081135
237
+ ]
238
+ },
239
+ "observation.images.top": {
240
+ "min": [
241
+ [
242
+ [
243
+ 0.0
244
+ ]
245
+ ],
246
+ [
247
+ [
248
+ 0.0
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.0
254
+ ]
255
+ ]
256
+ ],
257
+ "max": [
258
+ [
259
+ [
260
+ 1.0
261
+ ]
262
+ ],
263
+ [
264
+ [
265
+ 1.0
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 1.0
271
+ ]
272
+ ]
273
+ ],
274
+ "mean": [
275
+ [
276
+ [
277
+ 0.44814379663671017
278
+ ]
279
+ ],
280
+ [
281
+ [
282
+ 0.4592543791530502
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.435327210546024
288
+ ]
289
+ ]
290
+ ],
291
+ "std": [
292
+ [
293
+ [
294
+ 0.04077913675616742
295
+ ]
296
+ ],
297
+ [
298
+ [
299
+ 0.04036416982467021
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.039827141158570334
305
+ ]
306
+ ]
307
+ ],
308
+ "count": [
309
+ 6000
310
+ ],
311
+ "q01": [
312
+ [
313
+ [
314
+ 0.006849461797502281
315
+ ]
316
+ ],
317
+ [
318
+ [
319
+ 0.023118131801584053
320
+ ]
321
+ ],
322
+ [
323
+ [
324
+ 0.01563062172400212
325
+ ]
326
+ ]
327
+ ],
328
+ "q10": [
329
+ [
330
+ [
331
+ 0.11339980894481577
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ 0.12543156914417228
337
+ ]
338
+ ],
339
+ [
340
+ [
341
+ 0.11346388049687955
342
+ ]
343
+ ]
344
+ ],
345
+ "q50": [
346
+ [
347
+ [
348
+ 0.4661362153316663
349
+ ]
350
+ ],
351
+ [
352
+ [
353
+ 0.4798046548882574
354
+ ]
355
+ ],
356
+ [
357
+ [
358
+ 0.44942838239144023
359
+ ]
360
+ ]
361
+ ],
362
+ "q90": [
363
+ [
364
+ [
365
+ 0.7609094953821295
366
+ ]
367
+ ],
368
+ [
369
+ [
370
+ 0.76757542498585
371
+ ]
372
+ ],
373
+ [
374
+ [
375
+ 0.7393386746178208
376
+ ]
377
+ ]
378
+ ],
379
+ "q99": [
380
+ [
381
+ [
382
+ 0.9723032387857005
383
+ ]
384
+ ],
385
+ [
386
+ [
387
+ 0.9891979779876231
388
+ ]
389
+ ],
390
+ [
391
+ [
392
+ 0.979989919282913
393
+ ]
394
+ ]
395
+ ]
396
+ },
397
+ "observation.state": {
398
+ "min": [
399
+ -41.7672233581543,
400
+ -98.99958038330078,
401
+ -87.51696014404297,
402
+ 44.06421661376953,
403
+ -13.383380889892578,
404
+ 1.1936339139938354
405
+ ],
406
+ "max": [
407
+ 25.574153900146484,
408
+ 49.56231689453125,
409
+ 99.45726013183594,
410
+ 98.22560119628906,
411
+ 15.713176727294922,
412
+ 44.56233596801758
413
+ ],
414
+ "mean": [
415
+ 1.5302988320622841,
416
+ -22.321112278411203,
417
+ 12.099667648943496,
418
+ 81.68321442108675,
419
+ 1.5187923723211127,
420
+ 17.341779551417776
421
+ ],
422
+ "std": [
423
+ 14.167955950019683,
424
+ 45.7370117839472,
425
+ 43.4034316338476,
426
+ 12.519340586431488,
427
+ 4.447090169209671,
428
+ 10.667269714451374
429
+ ],
430
+ "count": [
431
+ 10588
432
+ ],
433
+ "q01": [
434
+ -27.61194593654166,
435
+ -91.1260538169987,
436
+ -53.17659410481138,
437
+ 64.0737671642036,
438
+ -3.950939100953572,
439
+ 2.1139115655394987
440
+ ],
441
+ "q10": [
442
+ -21.72096058985997,
443
+ -90.51093170217285,
444
+ -37.254618290227086,
445
+ 66.14220217535419,
446
+ -2.7305587914322533,
447
+ 4.158980718436632
448
+ ],
449
+ "q50": [
450
+ 5.799393613458475,
451
+ -8.456062464808175,
452
+ 6.497018968256343,
453
+ 81.81847333497689,
454
+ 1.4057996285534513,
455
+ 15.52529913682703
456
+ ],
457
+ "q90": [
458
+ 12.27356473708165,
459
+ 22.44174488455495,
460
+ 82.35775825569688,
461
+ 96.51940349496388,
462
+ 5.732941514927068,
463
+ 31.6464891041236
464
+ ],
465
+ "q99": [
466
+ 13.647676048274693,
467
+ 31.96501497437111,
468
+ 87.9266848208351,
469
+ 97.51642500179659,
470
+ 6.777392825558498,
471
+ 32.08020382319854
472
+ ]
473
+ },
474
+ "observation.images.wrist": {
475
+ "min": [
476
+ [
477
+ [
478
+ 0.0
479
+ ]
480
+ ],
481
+ [
482
+ [
483
+ 0.0
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.0
489
+ ]
490
+ ]
491
+ ],
492
+ "max": [
493
+ [
494
+ [
495
+ 1.0
496
+ ]
497
+ ],
498
+ [
499
+ [
500
+ 1.0
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 1.0
506
+ ]
507
+ ]
508
+ ],
509
+ "mean": [
510
+ [
511
+ [
512
+ 0.5054350175994007
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.5177624365808822
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.4808625123910674
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.01585801487637925
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.01646751794898418
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.014809381517420618
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 6000
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.03780285965980033
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.06259268565091508
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.0350502299731777
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.2510158162862721
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.2590179942143892
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.21171750877895185
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.524436354263413
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.5340567208506237
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.4936527678772403
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.7115783989041033
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.7189281227832017
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.6865413914107252
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.8210446983251186
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.95856670082343
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.9996771183253758
628
+ ]
629
+ ]
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b5bbfb36143a75766e1d8d27eef725f948829e1556f11b856fa659e427cd84ba
3
+ size 2206
videos/observation.images.top/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:646a79b43ee31b0a52cd0d213451705b55cae3ce39d704982d563fa9d4e98b59
3
+ size 29363892
videos/observation.images.wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:27bdaf8c8d805482ebc1e9f49cd23479e430ecc9c927cecaae4a367b86d8ff1a
3
+ size 110400217