Upload ketchup pick and place dataset with FFmpeg H.264 videos

README.md

@@ -15,11 +15,27 @@ Pick and place manipulation task where the robot grasps a ketchup bottle and pla
 ## Data Format
 This dataset follows the LeRobot format with:
 - Robot states in `observation.state` (7DOF: x, y, z, roll, pitch, yaw, gripper)
-- Actions as next states
+- Actions as next robot states 
 - Video recordings from multiple camera angles
+- Videos encoded with H.264 codec using FFmpeg for maximum compatibility
+
+## Camera Setup
+- **top**: RGB camera feed
+- **wrist**: RGB camera feed
 
 ## Usage
 ```python
-from lerobot.datasets import LeRobotDataset
+from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+
+# Load dataset
 dataset = LeRobotDataset("sakehaosdfadfasf/ketchup_pick_place")
+
+# Visualize data
+python -m lerobot.scripts.visualize_dataset \
+    --repo-id sakehaosdfadfasf/ketchup_pick_place \
+    --episode-index 0
 ```
+
+## Video Format
+Videos are encoded using FFmpeg with H.264 codec, YUV420P pixel format, and CRF 18 for high quality.
+This ensures maximum compatibility with LeRobot's video decoding pipeline.

meta/info.json

@@ -5,20 +5,42 @@
   "total_frames": 154,
   "total_tasks": 1,
   "total_chunks": 1,
-  "chunks_size": 1000,
+  "chunks_size": 154,
   "fps": 10,
   "features": {
     "observation.state": {
       "dtype": "float32",
       "shape": [
         7
-      ]
+      ],
+      "_info": {
+        "names": [
+          "x",
+          "y",
+          "z",
+          "roll",
+          "pitch",
+          "yaw",
+          "gripper"
+        ]
+      }
     },
     "action": {
       "dtype": "float32",
       "shape": [
         7
-      ]
+      ],
+      "_info": {
+        "names": [
+          "x",
+          "y",
+          "z",
+          "roll",
+          "pitch",
+          "yaw",
+          "gripper"
+        ]
+      }
     },
     "episode_index": {
       "dtype": "int64",
@@ -51,8 +73,52 @@
     "task_index": {
       "dtype": "int64",
       "shape": []
+    },
+    "observation.images.top": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "_info": {
+        "video_path": "videos/chunk-{episode_chunk:03d}/episode_{episode_index:06d}_top.mp4"
+      }
+    },
+    "observation.images.wrist": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "_info": {
+        "video_path": "videos/chunk-{episode_chunk:03d}/episode_{episode_index:06d}_wrist.mp4"
+      }
     }
   },
+  "encoding": {
+    "video": {
+      "codec": "h264",
+      "pix_fmt": "yuv420p",
+      "g": 2,
+      "crf": 18
+    }
+  },
+  "video_info": {
+    "video.fps": 10,
+    "video.codec": "h264",
+    "video.pix_fmt": "yuv420p",
+    "video.preset": "medium"
+  },
   "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
-  "video_path": "videos/chunk-{episode_chunk:03d}/episode_{episode_index:06d}_{camera_name}.mp4"
+  "video_path": "videos/chunk-{episode_chunk:03d}/episode_{episode_index:06d}_{camera_name}.mp4",
+  "camera_keys": [
+    "top",
+    "wrist"
+  ],
+  "camera_names": [
+    "top",
+    "wrist"
+  ]
 }

videos/chunk-000/episode_000000_top.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 942604
+oid sha256:b936ee0b56dcb41ab1ef7dce0e699e54946b200037599377cd72d709af90a31d
+size 877957

videos/chunk-000/episode_000000_wrist.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f7d3d067d1c33857b38bd1643608137af09409002860632d717f3d8b6c3a2a4c
-size 602431
+oid sha256:42fe583771a4e2801d4a7cd3b77e8e443a4c1ef007b34011efaf84901efca7a5
+size 559241