Hugging Face's logo

Datasets:
shivubind
/
pick_box

Tasks:
Robotics
Modalities:
Tabular
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
shivubind commited on
Commit
3b712a6
·
verified ·
1 Parent(s): f64022d

Upload README.md with huggingface_hub

Browse files
Files changed (1) hide show
  1. README.md +321 -0
README.md ADDED
@@ -0,0 +1,321 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - LeRobot
7
+ configs:
8
+ - config_name: default
9
+ data_files: data/*/*.parquet
10
+ ---
11
+
12
+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
13
+
14
+ ## Dataset Description
15
+
16
+
17
+
18
+ - **Homepage:** [More Information Needed]
19
+ - **Paper:** [More Information Needed]
20
+ - **License:** apache-2.0
21
+
22
+ ## Dataset Structure
23
+
24
+ [meta/info.json](meta/info.json):
25
+ ```json
26
+ {
27
+ "codebase_version": "v3.0",
28
+ "robot_type": null,
29
+ "total_episodes": 169,
30
+ "total_frames": 84001,
31
+ "total_tasks": 1,
32
+ "chunks_size": 1000,
33
+ "fps": 20,
34
+ "splits": {
35
+ "train": "0:169"
36
+ },
37
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
38
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
39
+ "features": {
40
+ "observation.images.ego_view": {
41
+ "dtype": "video",
42
+ "shape": [
43
+ 480,
44
+ 640,
45
+ 3
46
+ ],
47
+ "names": [
48
+ "height",
49
+ "width",
50
+ "channel"
51
+ ],
52
+ "info": {
53
+ "video.height": 480,
54
+ "video.width": 640,
55
+ "video.codec": "h264",
56
+ "video.pix_fmt": "yuv420p",
57
+ "video.is_depth_map": false,
58
+ "video.fps": 20,
59
+ "video.channels": 3,
60
+ "has_audio": false
61
+ }
62
+ },
63
+ "observation.state": {
64
+ "dtype": "float64",
65
+ "shape": [
66
+ 43
67
+ ],
68
+ "names": [
69
+ "left_hip_pitch_joint",
70
+ "left_hip_roll_joint",
71
+ "left_hip_yaw_joint",
72
+ "left_knee_joint",
73
+ "left_ankle_pitch_joint",
74
+ "left_ankle_roll_joint",
75
+ "right_hip_pitch_joint",
76
+ "right_hip_roll_joint",
77
+ "right_hip_yaw_joint",
78
+ "right_knee_joint",
79
+ "right_ankle_pitch_joint",
80
+ "right_ankle_roll_joint",
81
+ "waist_yaw_joint",
82
+ "waist_roll_joint",
83
+ "waist_pitch_joint",
84
+ "left_shoulder_pitch_joint",
85
+ "left_shoulder_roll_joint",
86
+ "left_shoulder_yaw_joint",
87
+ "left_elbow_joint",
88
+ "left_wrist_roll_joint",
89
+ "left_wrist_pitch_joint",
90
+ "left_wrist_yaw_joint",
91
+ "left_hand_index_0_joint",
92
+ "left_hand_index_1_joint",
93
+ "left_hand_middle_0_joint",
94
+ "left_hand_middle_1_joint",
95
+ "left_hand_thumb_0_joint",
96
+ "left_hand_thumb_1_joint",
97
+ "left_hand_thumb_2_joint",
98
+ "right_shoulder_pitch_joint",
99
+ "right_shoulder_roll_joint",
100
+ "right_shoulder_yaw_joint",
101
+ "right_elbow_joint",
102
+ "right_wrist_roll_joint",
103
+ "right_wrist_pitch_joint",
104
+ "right_wrist_yaw_joint",
105
+ "right_hand_index_0_joint",
106
+ "right_hand_index_1_joint",
107
+ "right_hand_middle_0_joint",
108
+ "right_hand_middle_1_joint",
109
+ "right_hand_thumb_0_joint",
110
+ "right_hand_thumb_1_joint",
111
+ "right_hand_thumb_2_joint"
112
+ ],
113
+ "fps": 20
114
+ },
115
+ "observation.eef_state": {
116
+ "dtype": "float64",
117
+ "shape": [
118
+ 14
119
+ ],
120
+ "names": [
121
+ "left_wrist_pos",
122
+ "left_wrist_abs_quat",
123
+ "right_wrist_pos",
124
+ "right_wrist_abs_quat"
125
+ ],
126
+ "fps": 20
127
+ },
128
+ "action": {
129
+ "dtype": "float64",
130
+ "shape": [
131
+ 43
132
+ ],
133
+ "names": [
134
+ "left_hip_pitch_joint",
135
+ "left_hip_roll_joint",
136
+ "left_hip_yaw_joint",
137
+ "left_knee_joint",
138
+ "left_ankle_pitch_joint",
139
+ "left_ankle_roll_joint",
140
+ "right_hip_pitch_joint",
141
+ "right_hip_roll_joint",
142
+ "right_hip_yaw_joint",
143
+ "right_knee_joint",
144
+ "right_ankle_pitch_joint",
145
+ "right_ankle_roll_joint",
146
+ "waist_yaw_joint",
147
+ "waist_roll_joint",
148
+ "waist_pitch_joint",
149
+ "left_shoulder_pitch_joint",
150
+ "left_shoulder_roll_joint",
151
+ "left_shoulder_yaw_joint",
152
+ "left_elbow_joint",
153
+ "left_wrist_roll_joint",
154
+ "left_wrist_pitch_joint",
155
+ "left_wrist_yaw_joint",
156
+ "left_hand_index_0_joint",
157
+ "left_hand_index_1_joint",
158
+ "left_hand_middle_0_joint",
159
+ "left_hand_middle_1_joint",
160
+ "left_hand_thumb_0_joint",
161
+ "left_hand_thumb_1_joint",
162
+ "left_hand_thumb_2_joint",
163
+ "right_shoulder_pitch_joint",
164
+ "right_shoulder_roll_joint",
165
+ "right_shoulder_yaw_joint",
166
+ "right_elbow_joint",
167
+ "right_wrist_roll_joint",
168
+ "right_wrist_pitch_joint",
169
+ "right_wrist_yaw_joint",
170
+ "right_hand_index_0_joint",
171
+ "right_hand_index_1_joint",
172
+ "right_hand_middle_0_joint",
173
+ "right_hand_middle_1_joint",
174
+ "right_hand_thumb_0_joint",
175
+ "right_hand_thumb_1_joint",
176
+ "right_hand_thumb_2_joint"
177
+ ],
178
+ "fps": 20
179
+ },
180
+ "action.eef": {
181
+ "dtype": "float64",
182
+ "shape": [
183
+ 14
184
+ ],
185
+ "names": [
186
+ "left_wrist_pos",
187
+ "left_wrist_abs_quat",
188
+ "right_wrist_pos",
189
+ "right_wrist_abs_quat"
190
+ ],
191
+ "fps": 20
192
+ },
193
+ "observation.img_state_delta": {
194
+ "dtype": "float32",
195
+ "shape": [
196
+ 1
197
+ ],
198
+ "names": "img_state_delta",
199
+ "fps": 20
200
+ },
201
+ "teleop.navigate_command": {
202
+ "dtype": "float64",
203
+ "shape": [
204
+ 3
205
+ ],
206
+ "names": [
207
+ "lin_vel_x",
208
+ "lin_vel_y",
209
+ "ang_vel_z"
210
+ ],
211
+ "fps": 20
212
+ },
213
+ "teleop.base_height_command": {
214
+ "dtype": "float64",
215
+ "shape": [
216
+ 1
217
+ ],
218
+ "names": "base_height_command",
219
+ "fps": 20
220
+ },
221
+ "timestamp": {
222
+ "dtype": "float32",
223
+ "shape": [
224
+ 1
225
+ ],
226
+ "names": null,
227
+ "fps": 20
228
+ },
229
+ "frame_index": {
230
+ "dtype": "int64",
231
+ "shape": [
232
+ 1
233
+ ],
234
+ "names": null,
235
+ "fps": 20
236
+ },
237
+ "episode_index": {
238
+ "dtype": "int64",
239
+ "shape": [
240
+ 1
241
+ ],
242
+ "names": null,
243
+ "fps": 20
244
+ },
245
+ "index": {
246
+ "dtype": "int64",
247
+ "shape": [
248
+ 1
249
+ ],
250
+ "names": null,
251
+ "fps": 20
252
+ },
253
+ "task_index": {
254
+ "dtype": "int64",
255
+ "shape": [
256
+ 1
257
+ ],
258
+ "names": null,
259
+ "fps": 20
260
+ }
261
+ },
262
+ "script_config": {
263
+ "wbc_version": "gear_wbc",
264
+ "wbc_model_path": "policy/GR00T-WholeBodyControl-Balance.onnx,policy/GR00T-WholeBodyControl-Walk.onnx",
265
+ "wbc_policy_class": "G1DecoupledWholeBodyPolicy",
266
+ "interface": "eno1",
267
+ "simulator": "mujoco",
268
+ "sim_sync_mode": false,
269
+ "control_frequency": 50,
270
+ "sim_frequency": 200,
271
+ "enable_waist": false,
272
+ "with_hands": false,
273
+ "hand_type": "dex3",
274
+ "high_elbow_pose": false,
275
+ "verbose": true,
276
+ "enable_offscreen": false,
277
+ "enable_onscreen": true,
278
+ "upper_body_joint_speed": 1000,
279
+ "env_name": "default",
280
+ "ik_indicator": false,
281
+ "verbose_timing": false,
282
+ "keyboard_dispatcher_type": "raw",
283
+ "enable_gravity_compensation": false,
284
+ "gravity_compensation_joints": null,
285
+ "body_control_device": "dummy",
286
+ "hand_control_device": "dummy",
287
+ "body_streamer_ip": "10.112.210.229",
288
+ "body_streamer_keyword": "knee",
289
+ "enable_visualization": false,
290
+ "enable_real_device": true,
291
+ "teleop_frequency": 20,
292
+ "teleop_replay_path": null,
293
+ "robot_ip": "192.168.123.164",
294
+ "data_collection": true,
295
+ "data_collection_frequency": 20,
296
+ "root_output_dir": "outputs",
297
+ "enable_upper_body_operation": true,
298
+ "upper_body_operation_mode": "teleop"
299
+ },
300
+ "discarded_episode_indices": [],
301
+ "data_collection_info": {
302
+ "lower_body_policy": null,
303
+ "wbc_model_path": null,
304
+ "teleoperator_username": null,
305
+ "support_operator_username": null,
306
+ "robot_type": null,
307
+ "robot_id": null
308
+ },
309
+ "data_files_size_in_mb": 100,
310
+ "video_files_size_in_mb": 200
311
+ }
312
+ ```
313
+
314
+
315
+ ## Citation
316
+
317
+ **BibTeX:**
318
+
319
+ ```bibtex
320
+ [More Information Needed]
321
+ ```