Hugging Face's logo

Datasets:
villekuosmanen
/
arx5-eef-pose-test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
villekuosmanen commited on
Commit
e674cdd
·
verified ·
1 Parent(s): 0c30458

Upload folder using huggingface_hub

Browse files
Files changed (10) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. data/chunk-000/episode_000001.parquet +3 -0
  3. meta/episodes.jsonl +2 -0
  4. meta/episodes_stats.jsonl +2 -0
  5. meta/info.json +129 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.front/episode_000000.mp4 +3 -0
  8. videos/chunk-000/observation.images.front/episode_000001.mp4 +3 -0
  9. videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
  10. videos/chunk-000/observation.images.wrist/episode_000001.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 sha256:23b6f329f9d16ab733f6ae0cb82e8ed690fb03e92bb6865eb2b601b033e5e297
3
+ size 30943
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0ad3aec3efc1b67f4d0387129ba9bfdc772cc4f0e591ed40b68f5a5a80e6bfdd
3
+ size 52907
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["=pick the coffee capsule and place it inside the coffee cup"], "length": 188}
2
+ {"episode_index": 1, "tasks": ["=pick the coffee capsule and place it inside the coffee cup"], "length": 366}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-0.6223773956298828, -0.00667572021484375, 0.02002716064453125, -0.4793243408203125, 0.00286102294921875, -0.14743995666503906, -0.001991302240639925], "max": [-0.00400543212890625, 1.9472417831420898, 1.4013500213623047, 0.9134435653686523, 0.494964599609375, 0.19970226287841797, 0.06170564144849777], "mean": [-0.4007333815097809, 1.3156613111495972, 0.6092533469200134, 0.17947383224964142, 0.3428977131843567, 0.08835425227880478, 0.022251715883612633], "std": [0.1956871896982193, 0.5888040065765381, 0.5057882070541382, 0.4927133619785309, 0.11682470142841339, 0.08919279277324677, 0.02414799854159355], "count": [188]}, "observation.state": {"min": [-0.6200885772705078, 0.00057220458984375, 0.037194252014160156, -0.4739837646484375, 0.00057220458984375, -0.14438819885253906, 0.0002569422358646989], "max": [-0.00019073486328125, 1.9316015243530273, 1.3925762176513672, 0.9058132171630859, 0.490386962890625, 0.19130992889404297, 0.060796137899160385], "mean": [-0.3940819799900055, 1.3048394918441772, 0.6096916794776917, 0.17362986505031586, 0.3396754860877991, 0.08611608296632767, 0.02410758286714554], "std": [0.19909146428108215, 0.5927258729934692, 0.5086492300033569, 0.49092161655426025, 0.12005296349525452, 0.08752259612083435, 0.02207672782242298], "count": [188]}, "observation.velocity": {"min": [-1.8131866455078125, -5.087913513183594, -5.263736724853516, -2.208789825439453, -0.626373291015625, -1.4175834655761719, -0.23204946517944336], "max": [0.868133544921875, 6.25274658203125, 5.131866455078125, 1.3076934814453125, 0.9120864868164062, 0.6483497619628906, 0.24781423807144165], "mean": [-0.2533320486545563, 0.30979663133621216, 0.22165097296237946, 0.001169022056274116, 0.023848330602049828, -0.027122071012854576, -0.0002842973335646093], "std": [0.5131844878196716, 2.4126224517822266, 1.9629703760147095, 0.6926110982894897, 0.21508683264255524, 0.22429729998111725, 0.06309270113706589], "count": [188]}, "observation.effort": {"min": [-0.46153831481933594, -9.718681335449219, 2.8615379333496094, 0.8368178606033325, -0.039138611406087875, -0.1285979449748993, -0.6653539538383484], "max": [0.3208789825439453, 1.6483516693115234, 6.782417297363281, 1.6904085874557495, 0.2590591609477997, 0.1584177315235138, 0.17705458402633667], "mean": [-0.17951829731464386, -3.2805702686309814, 4.598268032073975, 1.3249382972717285, 0.09532811492681503, 0.024208707734942436, -0.16749826073646545], "std": [0.14290328323841095, 2.73396897315979, 0.8757399320602417, 0.19412963092327118, 0.05008385702967644, 0.08300089091062546, 0.27515628933906555], "count": [188]}, "observation.eef_6d_pose": {"min": [0.2294328659772873, -0.3407996892929077, 0.007850931957364082, -0.23010702431201935, 0.06416437029838562, -1.1308391094207764], "max": [0.3923121988773346, -0.0001017384638544172, 0.21121053397655487, -0.008705736137926579, 0.9111843109130859, -0.0007774823461659253], "mean": [0.3112688362598419, -0.21210859715938568, 0.10296913236379623, -0.11915301531553268, 0.48362812399864197, -0.798212468624115], "std": [0.04978819563984871, 0.10056709498167038, 0.058627717196941376, 0.04881026968359947, 0.2280450314283371, 0.29753077030181885], "count": [188]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5973604003267974]], [[0.5172245853758171]], [[0.5668717197712417]]], "std": [[[0.24157822602586737]], [[0.28499256567920006]], [[0.30415537586476554]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6997373223039216]], [[0.518030126633987]], [[0.511683984885621]]], "std": [[[0.23994340353926022]], [[0.2184640538705972]], [[0.20830884282244372]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.35], "mean": [4.675], "std": [2.7135078772688312], "count": [188]}, "frame_index": {"min": [0], "max": [187], "mean": [93.5], "std": [54.270157545376634], "count": [188]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [188]}, "index": {"min": [0], "max": [187], "mean": [93.5], "std": [54.270157545376634], "count": [188]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [188]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-0.7860307693481445, 0.2538719177246094, 0.17185497283935547, -0.6643400192260742, 0.12874794006347656, -0.15926647186279297, -0.0037385737523436546], "max": [-0.22602462768554688, 1.9560155868530273, 1.5020599365234375, 0.9454870223999023, 0.6055927276611328, 0.24013900756835938, 0.06255354732275009], "mean": [-0.6083757281303406, 1.4406872987747192, 0.7435445189476013, 0.09762661159038544, 0.2622210681438446, 0.059399764984846115, 0.02009645104408264], "std": [0.12057797610759735, 0.4238506257534027, 0.41740694642066956, 0.47548142075538635, 0.10419324785470963, 0.08391427993774414, 0.02479470521211624], "count": [366]}, "observation.state": {"min": [-0.7829790115356445, 0.2752342224121094, 0.18673229217529297, -0.6673917770385742, 0.12912940979003906, -0.15087318420410156, 0.0005773024749942124], "max": [-0.22831344604492188, 1.9205389022827148, 1.5066375732421875, 0.9298467636108398, 0.6006336212158203, 0.22869491577148438, 0.061663731932640076], "mean": [-0.6079816818237305, 1.4345084428787231, 0.7535462975502014, 0.09164391458034515, 0.26087337732315063, 0.05820534750819206, 0.023707063868641853], "std": [0.11705680191516876, 0.41426870226860046, 0.41622394323349, 0.4748533070087433, 0.10373277962207794, 0.08195201307535172, 0.021995676681399345], "count": [366]}, "observation.velocity": {"min": [-1.5934066772460938, -5.285713195800781, -5.329669952392578, -2.076923370361328, -1.0659332275390625, -0.6923065185546875, -0.24742969870567322], "max": [2.3846168518066406, 4.0549468994140625, 5.0659332275390625, 1.9890098571777344, 1.3516502380371094, 1.0659332275390625, 0.2631944715976715], "mean": [0.06287122517824173, -0.11649515479803085, -0.06887660175561905, 0.012190011329948902, -0.019275842234492302, -0.016333678737282753, -0.0004023694200441241], "std": [0.5090515613555908, 2.1388349533081055, 2.0083112716674805, 0.735247790813446, 0.27209046483039856, 0.14788614213466644, 0.06658076494932175], "count": [366]}, "observation.effort": {"min": [-0.5054950714111328, -9.35824203491211, 2.756044387817383, 0.8032699227333069, -0.07268576323986053, -0.1509629786014557, -1.3922111988067627], "max": [0.5054950714111328, 0.8219776153564453, 6.035165786743164, 1.7835952043533325, 0.35224586725234985, 0.1435074359178543, 0.19196487963199615], "mean": [-0.09571844339370728, -3.7845685482025146, 4.451159954071045, 1.2990144491195679, 0.08320607990026474, 0.014146072790026665, -0.35311177372932434], "std": [0.18906763195991516, 2.1300463676452637, 0.682205080986023, 0.1988966464996338, 0.06822764873504639, 0.06967590004205704, 0.553445041179657], "count": [366]}, "observation.eef_6d_pose": {"min": [0.18026487529277802, -0.3463333547115326, 0.003993007354438305, -0.263026624917984, 0.05784983187913895, -1.2854466438293457], "max": [0.37583962082862854, -0.0853896290063858, 0.23850691318511963, 0.06065695732831955, 0.9430091977119446, -0.38402846455574036], "mean": [0.29679417610168457, -0.2676178812980652, 0.11197157949209213, -0.12468142062425613, 0.5613468885421753, -0.9307858943939209], "std": [0.06165505573153496, 0.06375977396965027, 0.06575153023004532, 0.06870176643133163, 0.1978861391544342, 0.21097329258918762], "count": [366]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5978786458333333]], [[0.5174955310457516]], [[0.5659096691176471]]], "std": [[[0.270689413703681]], [[0.30563194154705836]], [[0.320535693817152]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7045693464052288]], [[0.5240102267156863]], [[0.525997926879085]]], "std": [[[0.2530018610035824]], [[0.21414184611629575]], [[0.20492783255927255]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [18.25], "mean": [9.125], "std": [5.282735244801377], "count": [366]}, "frame_index": {"min": [0], "max": [365], "mean": [182.5], "std": [105.65470489602754], "count": [366]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [366]}, "index": {"min": [188], "max": [553], "mean": [370.5], "std": [105.65470489602754], "count": [366]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [366]}}}
meta/info.json ADDED
@@ -0,0 +1,129 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "arx5",
4
+ "total_episodes": 2,
5
+ "total_frames": 554,
6
+ "total_tasks": 1,
7
+ "total_videos": 4,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 20,
11
+ "splits": {
12
+ "train": "0:2"
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
+ 7
21
+ ]
22
+ },
23
+ "observation.state": {
24
+ "dtype": "float32",
25
+ "shape": [
26
+ 7
27
+ ]
28
+ },
29
+ "observation.velocity": {
30
+ "dtype": "float32",
31
+ "shape": [
32
+ 7
33
+ ]
34
+ },
35
+ "observation.effort": {
36
+ "dtype": "float32",
37
+ "shape": [
38
+ 7
39
+ ]
40
+ },
41
+ "observation.eef_6d_pose": {
42
+ "dtype": "float32",
43
+ "shape": [
44
+ 6
45
+ ]
46
+ },
47
+ "observation.images.front": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 480,
51
+ 640,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "info": {
60
+ "video.fps": 20.0,
61
+ "video.height": 480,
62
+ "video.width": 640,
63
+ "video.channels": 3,
64
+ "video.codec": "av1",
65
+ "video.pix_fmt": "yuv420p",
66
+ "video.is_depth_map": false,
67
+ "has_audio": false
68
+ }
69
+ },
70
+ "observation.images.wrist": {
71
+ "dtype": "video",
72
+ "shape": [
73
+ 480,
74
+ 640,
75
+ 3
76
+ ],
77
+ "names": [
78
+ "height",
79
+ "width",
80
+ "channels"
81
+ ],
82
+ "info": {
83
+ "video.fps": 20.0,
84
+ "video.height": 480,
85
+ "video.width": 640,
86
+ "video.channels": 3,
87
+ "video.codec": "av1",
88
+ "video.pix_fmt": "yuv420p",
89
+ "video.is_depth_map": false,
90
+ "has_audio": false
91
+ }
92
+ },
93
+ "timestamp": {
94
+ "dtype": "float32",
95
+ "shape": [
96
+ 1
97
+ ],
98
+ "names": null
99
+ },
100
+ "frame_index": {
101
+ "dtype": "int64",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ },
107
+ "episode_index": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null
113
+ },
114
+ "index": {
115
+ "dtype": "int64",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null
120
+ },
121
+ "task_index": {
122
+ "dtype": "int64",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ }
128
+ }
129
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "=pick the coffee capsule and place it inside the coffee cup"}
videos/chunk-000/observation.images.front/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d8a4bd6892c98fb58619bd44fb41b9aef5864633f06dd18038fa8174e2c70910
3
+ size 2622850
videos/chunk-000/observation.images.front/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d54dfafbf0e48f7f167794627215b417dd7f4817846d3ca7dfcbd8938a8d692f
3
+ size 5048006
videos/chunk-000/observation.images.wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c6b3f26c42692f576fba172c90447fdacee53034b01521e5445ccdf3c9046d03
3
+ size 1283023
videos/chunk-000/observation.images.wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9ed321694b0bae44ff9aef86bb8dc132dc3e2723e07ca9aa7a1d2621e00022b2
3
+ size 2608743