Hugging Face's logo

Datasets:
qwerdfdsad
/
picking_pot

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
qwerdfdsad commited on
Commit
0c2d50d
·
verified ·
1 Parent(s): c91d029

Upload folder using huggingface_hub

Browse files
Files changed (6) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. meta/episodes.jsonl +1 -0
  3. meta/info.json +160 -0
  4. meta/stats.json +358 -0
  5. meta/tasks.jsonl +1 -0
  6. videos/chunk-000/observation.images.top_rgb/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:b5f656809f2ef9ad3a36bead543665fcf379f5e5566b39e8cdcabe9926b765ee
3
+ size 27244
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["picking_pot"], "length": 103}
meta/info.json ADDED
@@ -0,0 +1,160 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "bi_ur5",
4
+ "total_episodes": 1,
5
+ "total_frames": 103,
6
+ "total_tasks": 1,
7
+ "total_videos": 1,
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
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 14
21
+ ],
22
+ "names": {
23
+ "motors": [
24
+ "left_shoulder_pan",
25
+ "left_shoulder_lift",
26
+ "left_elbow_flex",
27
+ "left_wrist_1",
28
+ "left_wrist_2",
29
+ "left_wrist_3",
30
+ "left_gripper",
31
+ "right_shoulder_pan",
32
+ "right_shoulder_lift",
33
+ "right_elbow_flex",
34
+ "right_wrist_1",
35
+ "right_wrist_2",
36
+ "right_wrist_3",
37
+ "right_gripper"
38
+ ]
39
+ }
40
+ },
41
+ "observation.state": {
42
+ "dtype": "float32",
43
+ "shape": [
44
+ 14
45
+ ],
46
+ "names": {
47
+ "arms": [
48
+ "left_shoulder_pan",
49
+ "left_shoulder_lift",
50
+ "left_elbow_flex",
51
+ "left_wrist_1",
52
+ "left_wrist_2",
53
+ "left_wrist_3",
54
+ "left_gripper",
55
+ "right_shoulder_pan",
56
+ "right_shoulder_lift",
57
+ "right_elbow_flex",
58
+ "right_wrist_1",
59
+ "right_wrist_2",
60
+ "right_wrist_3",
61
+ "right_gripper"
62
+ ]
63
+ }
64
+ },
65
+ "observation.velocity": {
66
+ "dtype": "float32",
67
+ "shape": [
68
+ 14
69
+ ],
70
+ "names": {
71
+ "arms": [
72
+ "left_shoulder_pan",
73
+ "left_shoulder_lift",
74
+ "left_elbow_flex",
75
+ "left_wrist_1",
76
+ "left_wrist_2",
77
+ "left_wrist_3",
78
+ "left_gripper",
79
+ "right_shoulder_pan",
80
+ "right_shoulder_lift",
81
+ "right_elbow_flex",
82
+ "right_wrist_1",
83
+ "right_wrist_2",
84
+ "right_wrist_3",
85
+ "right_gripper"
86
+ ]
87
+ }
88
+ },
89
+ "observation.gripper_position": {
90
+ "dtype": "float32",
91
+ "shape": [
92
+ 2
93
+ ],
94
+ "names": {
95
+ "gripper": [
96
+ "left_gripper",
97
+ "right_gripper"
98
+ ]
99
+ }
100
+ },
101
+ "observation.images.top_rgb": {
102
+ "dtype": "video",
103
+ "shape": [
104
+ 480,
105
+ 640,
106
+ 3
107
+ ],
108
+ "names": [
109
+ "height",
110
+ "width",
111
+ "channels"
112
+ ],
113
+ "info": {
114
+ "video.fps": 30.0,
115
+ "video.height": 480,
116
+ "video.width": 640,
117
+ "video.channels": 3,
118
+ "video.codec": "h264",
119
+ "video.pix_fmt": "yuv420p",
120
+ "video.is_depth_map": false,
121
+ "has_audio": false
122
+ }
123
+ },
124
+ "timestamp": {
125
+ "dtype": "float32",
126
+ "shape": [
127
+ 1
128
+ ],
129
+ "names": null
130
+ },
131
+ "frame_index": {
132
+ "dtype": "int64",
133
+ "shape": [
134
+ 1
135
+ ],
136
+ "names": null
137
+ },
138
+ "episode_index": {
139
+ "dtype": "int64",
140
+ "shape": [
141
+ 1
142
+ ],
143
+ "names": null
144
+ },
145
+ "index": {
146
+ "dtype": "int64",
147
+ "shape": [
148
+ 1
149
+ ],
150
+ "names": null
151
+ },
152
+ "task_index": {
153
+ "dtype": "int64",
154
+ "shape": [
155
+ 1
156
+ ],
157
+ "names": null
158
+ }
159
+ }
160
+ }
meta/stats.json ADDED
@@ -0,0 +1,358 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ 2.0444486141204834,
5
+ -1.5266485214233398,
6
+ 1.7107435464859009,
7
+ -1.7194361686706543,
8
+ -1.6125727891921997,
9
+ -0.7690674662590027,
10
+ 0.4374862015247345,
11
+ -1.918060541152954,
12
+ -1.688542127609253,
13
+ -1.6898995637893677,
14
+ -1.4192063808441162,
15
+ 1.5081647634506226,
16
+ 1.001830816268921,
17
+ 0.4615037739276886
18
+ ],
19
+ "std": [
20
+ 0.0807897076010704,
21
+ 0.031134331598877907,
22
+ 0.20102575421333313,
23
+ 0.23323461413383484,
24
+ 0.007660142611712217,
25
+ 0.4229317903518677,
26
+ 0.40155544877052307,
27
+ 0.019389038905501366,
28
+ 0.03856426104903221,
29
+ 0.1227518618106842,
30
+ 0.20661862194538116,
31
+ 0.03924498334527016,
32
+ 0.4357866942882538,
33
+ 0.2837611138820648
34
+ ],
35
+ "max": [
36
+ 2.1613166332244873,
37
+ -1.4818254709243774,
38
+ 1.9558101892471313,
39
+ -1.3959993124008179,
40
+ -1.6030100584030151,
41
+ 0.06439559161663055,
42
+ 1.0,
43
+ -1.892963171005249,
44
+ -1.5984277725219727,
45
+ -1.5017671585083008,
46
+ -1.1765636205673218,
47
+ 1.547770619392395,
48
+ 1.2710615396499634,
49
+ 0.8589843511581421
50
+ ],
51
+ "min": [
52
+ 1.9220932722091675,
53
+ -1.6351712942123413,
54
+ 1.4327534437179565,
55
+ -2.03855299949646,
56
+ -1.6260194778442383,
57
+ -1.2313811779022217,
58
+ 1.0428709119547501e-25,
59
+ -1.961961269378662,
60
+ -1.744136095046997,
61
+ -1.8300235271453857,
62
+ -1.6981010437011719,
63
+ 1.4127962589263916,
64
+ -0.04908738285303116,
65
+ 0.22617188096046448
66
+ ]
67
+ },
68
+ "observation.state": {
69
+ "mean": [
70
+ 2.04058837890625,
71
+ -1.525709629058838,
72
+ 1.70754873752594,
73
+ -1.7181333303451538,
74
+ -1.612849473953247,
75
+ -0.7507433891296387,
76
+ 0.7723746299743652,
77
+ -1.9186773300170898,
78
+ -1.6888518333435059,
79
+ -1.688076138496399,
80
+ -1.42006516456604,
81
+ 1.5095536708831787,
82
+ 0.9811945557594299,
83
+ 0.8524373173713684
84
+ ],
85
+ "std": [
86
+ 0.0810542032122612,
87
+ 0.03055207058787346,
88
+ 0.2036159485578537,
89
+ 0.23428556323051453,
90
+ 0.007283208891749382,
91
+ 0.43541374802589417,
92
+ 0.32857048511505127,
93
+ 0.01914931833744049,
94
+ 0.03814103081822395,
95
+ 0.12411850690841675,
96
+ 0.20695430040359497,
97
+ 0.037962593138217926,
98
+ 0.45333534479141235,
99
+ 0.28744006156921387
100
+ ],
101
+ "max": [
102
+ 2.159400463104248,
103
+ -1.4821513891220093,
104
+ 1.9546856880187988,
105
+ -1.4018529653549194,
106
+ -1.6033252477645874,
107
+ 0.06295650452375412,
108
+ 1.255730390548706,
109
+ -1.8945053815841675,
110
+ -1.6003164052963257,
111
+ -1.5017160177230835,
112
+ -1.1771568059921265,
113
+ 1.5466623306274414,
114
+ 1.2553049325942993,
115
+ 1.4049813747406006
116
+ ],
117
+ "min": [
118
+ 1.9226633310317993,
119
+ -1.6250594854354858,
120
+ 1.433401107788086,
121
+ -2.03550124168396,
122
+ -1.6258267164230347,
123
+ -1.216342806816101,
124
+ 0.3937016427516937,
125
+ -1.9615129232406616,
126
+ -1.7439922094345093,
127
+ -1.8289974927902222,
128
+ -1.6971319913864136,
129
+ 1.41310453414917,
130
+ -0.049112144857645035,
131
+ 0.6210651993751526
132
+ ]
133
+ },
134
+ "observation.velocity": {
135
+ "mean": [
136
+ 0.010002026334404945,
137
+ -0.0026598921976983547,
138
+ 0.00834319181740284,
139
+ -0.005585113074630499,
140
+ -0.004264289513230324,
141
+ -0.05501201003789902,
142
+ 0.0,
143
+ 0.0014675827696919441,
144
+ 0.0010171933099627495,
145
+ -0.004730146378278732,
146
+ 0.003258080454543233,
147
+ -0.003642972093075514,
148
+ 0.05269405618309975,
149
+ 0.0
150
+ ],
151
+ "std": [
152
+ 0.045024897903203964,
153
+ 0.04615045338869095,
154
+ 0.08674700558185577,
155
+ 0.11408097296953201,
156
+ 0.031532172113657,
157
+ 0.24399228394031525,
158
+ 0.0,
159
+ 0.009040318429470062,
160
+ 0.03366599977016449,
161
+ 0.04734732210636139,
162
+ 0.0909617692232132,
163
+ 0.036287445574998856,
164
+ 0.14092257618904114,
165
+ 0.0
166
+ ],
167
+ "max": [
168
+ 0.2840421199798584,
169
+ 0.2066783457994461,
170
+ 0.32285183668136597,
171
+ 0.4429369568824768,
172
+ 0.05910620093345642,
173
+ 0.33253827691078186,
174
+ 0.0,
175
+ 0.04030534625053406,
176
+ 0.16786862909793854,
177
+ 0.16880179941654205,
178
+ 0.3351268768310547,
179
+ 0.06013684347271919,
180
+ 0.5794373154640198,
181
+ 0.0
182
+ ],
183
+ "min": [
184
+ -0.03978123515844345,
185
+ -0.24913126230239868,
186
+ -0.304661363363266,
187
+ -0.4080628752708435,
188
+ -0.05445631965994835,
189
+ -1.1355292797088623,
190
+ 0.0,
191
+ -0.02996375784277916,
192
+ -0.20545116066932678,
193
+ -0.22590424120426178,
194
+ -0.29282256960868835,
195
+ -0.13741113245487213,
196
+ -0.05541505664587021,
197
+ 0.0
198
+ ]
199
+ },
200
+ "observation.gripper_position": {
201
+ "mean": [
202
+ 0.7723746299743652,
203
+ 0.8524373173713684
204
+ ],
205
+ "std": [
206
+ 0.32857048511505127,
207
+ 0.28744006156921387
208
+ ],
209
+ "max": [
210
+ 1.255730390548706,
211
+ 1.4049813747406006
212
+ ],
213
+ "min": [
214
+ 0.3937016427516937,
215
+ 0.6210651993751526
216
+ ]
217
+ },
218
+ "observation.images.top_rgb": {
219
+ "mean": [
220
+ [
221
+ [
222
+ 0.40879151225090027
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.43029776215553284
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.42752254009246826
233
+ ]
234
+ ]
235
+ ],
236
+ "std": [
237
+ [
238
+ [
239
+ 0.41487449407577515
240
+ ]
241
+ ],
242
+ [
243
+ [
244
+ 0.40199610590934753
245
+ ]
246
+ ],
247
+ [
248
+ [
249
+ 0.39645662903785706
250
+ ]
251
+ ]
252
+ ],
253
+ "max": [
254
+ [
255
+ [
256
+ 1.0
257
+ ]
258
+ ],
259
+ [
260
+ [
261
+ 1.0
262
+ ]
263
+ ],
264
+ [
265
+ [
266
+ 1.0
267
+ ]
268
+ ]
269
+ ],
270
+ "min": [
271
+ [
272
+ [
273
+ 0.0
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 0.0
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 0.0
284
+ ]
285
+ ]
286
+ ]
287
+ },
288
+ "timestamp": {
289
+ "mean": [
290
+ 1.7000000476837158
291
+ ],
292
+ "std": [
293
+ 0.9910712242126465
294
+ ],
295
+ "max": [
296
+ 3.4000000953674316
297
+ ],
298
+ "min": [
299
+ 0.0
300
+ ]
301
+ },
302
+ "frame_index": {
303
+ "mean": [
304
+ 51.0
305
+ ],
306
+ "std": [
307
+ 29.73213768005371
308
+ ],
309
+ "max": [
310
+ 102.0
311
+ ],
312
+ "min": [
313
+ 0.0
314
+ ]
315
+ },
316
+ "episode_index": {
317
+ "mean": [
318
+ 0.0
319
+ ],
320
+ "std": [
321
+ 0.0
322
+ ],
323
+ "max": [
324
+ 0.0
325
+ ],
326
+ "min": [
327
+ 0.0
328
+ ]
329
+ },
330
+ "index": {
331
+ "mean": [
332
+ 51.0
333
+ ],
334
+ "std": [
335
+ 29.73213768005371
336
+ ],
337
+ "max": [
338
+ 102.0
339
+ ],
340
+ "min": [
341
+ 0.0
342
+ ]
343
+ },
344
+ "task_index": {
345
+ "mean": [
346
+ 0.0
347
+ ],
348
+ "std": [
349
+ 0.0
350
+ ],
351
+ "max": [
352
+ 0.0
353
+ ],
354
+ "min": [
355
+ 0.0
356
+ ]
357
+ }
358
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "picking_pot"}
videos/chunk-000/observation.images.top_rgb/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3ebd23c3bc9bdf13e8aba8831fb6342e0e396df0171f0bc9da692afeb48074d9
3
+ size 396947