Upload folder using huggingface_hub

README.md

@@ -0,0 +1,182 @@
+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+This dataset was created using [LeRobot Data Studio](https://github.com/jackvial/assembler0/tree/main/packages/lerobot-data-studio).
+
+## Dataset Description
+
+- **Homepage:** [More Information Needed]
+- **Paper:** [More Information Needed] 
+- **License:** apache-2.0
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v2.1",
+    "robot_type": "koch_screwdriver_follower",
+    "total_episodes": 4,
+    "total_frames": 976,
+    "total_tasks": 1,
+    "total_videos": 15,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:4"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "screwdriver.vel"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "screwdriver.vel"
+            ]
+        },
+        "observation.images.screwdriver": {
+            "dtype": "video",
+            "shape": [
+                600,
+                800,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 600,
+                "video.width": 800,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.side": {
+            "dtype": "video",
+            "shape": [
+                600,
+                800,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 600,
+                "video.width": 800,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.top": {
+            "dtype": "video",
+            "shape": [
+                600,
+                800,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 600,
+                "video.width": 800,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
+```
+
+## Citation
+
+**BibTeX:**
+
+```bibtex
+[More Information Needed]
+```

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:872dcbc1ccd68023ebf523a03feea1d0a6b77bc37a6741388d2abf7efedb1729
+size 14335

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:530e4ebffa6babdb60c811535cb9595cb20df31e6ae4289e3fe9fe83c23e4200
+size 14753

data/chunk-000/episode_000002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc735f9b4210b31b42e9063d58afc238918bb2422efb4adb733b1fffb33dd73e
+size 14996

data/chunk-000/episode_000003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5dedbde7094aca472c4deb713787312625958efc433714a174dbb66137a0868
+size 15156

meta/episodes.jsonl

@@ -0,0 +1,4 @@
+{"episode_index": 0, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 244}
+{"episode_index": 1, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 244}
+{"episode_index": 2, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 244}
+{"episode_index": 3, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 244}

meta/episodes_stats.jsonl

@@ -0,0 +1,4 @@
+{"episode_index": 0, "stats": {"action": {"min": [-5.5921854972839355, -99.49958038330078, -70.0, -29.633113861083984, -3.492063522338867, 0.0], "max": [2.9059829711914062, -42.28523635864258, -22.934782028198242, 68.5794906616211, 9.4993896484375, 195.0], "mean": [-0.566464364528656, -61.99763870239258, -49.76604461669922, 15.27187442779541, -0.8080644607543945, 51.1065559387207], "std": [2.060116767883301, 15.127509117126465, 13.078842163085938, 42.00590133666992, 2.2281382083892822, 78.91048431396484], "count": [244]}, "observation.state": {"min": [-5.494505405426025, -94.17293548583984, -72.13719940185547, -27.220903396606445, -3.0525031089782715, -1.0], "max": [2.808302879333496, -34.962406158447266, -30.026384353637695, 67.885986328125, 8.571428298950195, 200.0], "mean": [-0.31265634298324585, -60.5618782043457, -51.52120590209961, 17.037097930908203, -0.4239480197429657, 51.81147384643555], "std": [2.1716511249542236, 14.193622589111328, 13.384825706481934, 40.08303451538086, 1.734879970550537, 78.6591796875], "count": [244]}, "observation.images.screwdriver": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2858429656862745]], [[0.24665769607843135]], [[0.24395764910130718]]], "std": [[[0.2800659699362107]], [[0.26269935122602417]], [[0.24032605437712318]]], "count": [100]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.1293721977124183]], [[0.13142338031045753]], [[0.11743756944444445]]], "std": [[[0.19514560104695167]], [[0.18734498520589135]], [[0.12746064420833886]]], "count": [100]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2781016911764706]], [[0.28271022263071893]], [[0.297155835375817]]], "std": [[[0.29791061634073884]], [[0.3009427526728209]], [[0.23530653219084524]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [8.1], "mean": [4.05], "std": [2.3478713763747794], "count": [244]}, "frame_index": {"min": [0], "max": [243], "mean": [121.5], "std": [70.43614129124337], "count": [244]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [244]}, "index": {"min": [0], "max": [243], "mean": [121.5], "std": [70.43614129124337], "count": [244]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [244]}}}
+{"episode_index": 1, "stats": {"action": {"min": [-6.373626232147217, -97.49791717529297, -76.08695983886719, -24.270931243896484, -6.520146369934082, 0.0], "max": [3.7362637519836426, -40.2835693359375, -9.456521987915039, 77.51646423339844, 8.962148666381836, 195.0], "mean": [0.8324822783470154, -57.88289260864258, -39.312191009521484, 0.1083386242389679, -1.488620400428772, 51.43852615356445], "std": [2.259486198425293, 16.43920135498047, 14.46561050415039, 32.05253982543945, 2.720310926437378, 78.08654022216797], "count": [244]}, "observation.state": {"min": [-6.275946140289307, -92.85713958740234, -76.99208068847656, -22.185272216796875, -3.931623935699463, 1.0], "max": [3.6385836601257324, -40.97744369506836, -13.773087501525879, 76.81710052490234, 7.692307472229004, 201.0], "mean": [0.888929009437561, -55.90176773071289, -41.29591369628906, 2.371011972427368, -0.7816415429115295, 52.01639175415039], "std": [2.229229211807251, 15.041279792785645, 13.362305641174316, 31.268484115600586, 1.6935410499572754, 77.76983642578125], "count": [244]}, "observation.images.screwdriver": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29522900531045754]], [[0.24371927900326795]], [[0.22751544730392156]]], "std": [[[0.2793726384870921]], [[0.2551672118591527]], [[0.23026435313051655]]], "count": [100]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.12925238153594773]], [[0.12958984885620914]], [[0.11664331495098039]]], "std": [[[0.194126675874541]], [[0.18584017510363454]], [[0.12759896657428613]]], "count": [100]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2754448549836601]], [[0.28035034109477125]], [[0.29492590482026143]]], "std": [[[0.2953473601498282]], [[0.29833153419306735]], [[0.23313415367691376]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [8.1], "mean": [4.05], "std": [2.3478713763747794], "count": [244]}, "frame_index": {"min": [0], "max": [243], "mean": [121.5], "std": [70.43614129124337], "count": [244]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [244]}, "index": {"min": [244], "max": [487], "mean": [365.5], "std": [70.43614129124337], "count": [244]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [244]}}}
+{"episode_index": 2, "stats": {"action": {"min": [-3.6385836601257324, -87.82318878173828, -74.13043212890625, -27.657573699951172, -3.6874237060546875, 0.0], "max": [8.864468574523926, -31.943286895751953, -12.065217018127441, 67.826904296875, 10.964591026306152, 101.0], "mean": [3.0088672637939453, -56.851348876953125, -42.31420135498047, 12.574995994567871, 1.987430214881897, 21.23770523071289], "std": [2.5869569778442383, 17.426551818847656, 17.96193504333496, 33.9620475769043, 4.893895149230957, 26.574081420898438], "count": [244]}, "observation.state": {"min": [-3.492063522338867, -83.08271026611328, -76.99208068847656, -19.049880981445312, -3.6385836601257324, 1.0], "max": [8.571428298950195, -36.09022521972656, -17.994722366333008, 67.69596099853516, 10.818070411682129, 102.0], "mean": [2.8741567134857178, -55.769187927246094, -44.10874557495117, 13.844460487365723, 1.2498245239257812, 21.930328369140625], "std": [2.5393667221069336, 15.581381797790527, 17.09124183654785, 33.31678009033203, 5.127124786376953, 26.407413482666016], "count": [244]}, "observation.images.screwdriver": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3048050714869281]], [[0.26555478962418305]], [[0.2515839276960784]]], "std": [[[0.2867681580218573]], [[0.27025724657742267]], [[0.2513238648851739]]], "count": [100]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.12848138888888888]], [[0.12837866217320262]], [[0.11537565155228759]]], "std": [[[0.19430964587327795]], [[0.18564993913080688]], [[0.12715862956270751]]], "count": [100]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2712187888071895]], [[0.2761893545751634]], [[0.2913499734477124]]], "std": [[[0.29299759438529477]], [[0.295969425453342]], [[0.23064480593673486]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [8.1], "mean": [4.05], "std": [2.3478713763747794], "count": [244]}, "frame_index": {"min": [0], "max": [243], "mean": [121.5], "std": [70.43614129124337], "count": [244]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [244]}, "index": {"min": [488], "max": [731], "mean": [609.5], "std": [70.43614129124337], "count": [244]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [244]}}}
+{"episode_index": 3, "stats": {"action": {"min": [-5.738705635070801, -100.0, -77.71739196777344, -45.34336853027344, -7.692307472229004, 0.0], "max": [4.126984119415283, -39.28273391723633, -19.782608032226562, 73.37723541259766, 9.40170955657959, 195.0], "mean": [0.6455294489860535, -60.603111267089844, -43.71437072753906, 1.5622334480285645, -0.7269961833953857, 64.39344024658203], "std": [2.5882909297943115, 19.441925048828125, 14.2167387008667, 39.12217712402344, 2.9839484691619873, 81.97999572753906], "count": [244]}, "observation.state": {"min": [-5.787545680999756, -96.2406005859375, -78.3641128540039, -32.25653076171875, -7.692307472229004, 1.0], "max": [3.5409035682678223, -43.04511260986328, -25.488126754760742, 71.97149658203125, 8.473748207092285, 201.0], "mean": [0.6070975065231323, -59.470130920410156, -45.467803955078125, 4.053584575653076, -1.0580673217773438, 65.14344024658203], "std": [2.6046736240386963, 17.510820388793945, 13.521720886230469, 37.74583053588867, 2.603307008743286, 81.65008544921875], "count": [244]}, "observation.images.screwdriver": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2796057761437909]], [[0.2412458762254902]], [[0.22699844566993463]]], "std": [[[0.27228434015160163]], [[0.25219785610349865]], [[0.23248027762802156]]], "count": [100]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.12756855187908497]], [[0.12806205269607843]], [[0.11910785743464053]]], "std": [[[0.1938793929742991]], [[0.18504735004631734]], [[0.12806078299102486]]], "count": [100]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.27562024714052286]], [[0.28059809232026145]], [[0.2948721446078431]]], "std": [[[0.29604800414616994]], [[0.29898938863787644]], [[0.23304935993635215]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [8.1], "mean": [4.05], "std": [2.3478713763747794], "count": [244]}, "frame_index": {"min": [0], "max": [243], "mean": [121.5], "std": [70.43614129124337], "count": [244]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [244]}, "index": {"min": [976], "max": [1219], "mean": [1097.5], "std": [70.43614129124337], "count": [244]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [244]}}}

meta/info.json

@@ -0,0 +1,150 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "koch_screwdriver_follower",
+    "total_episodes": 4,
+    "total_frames": 976,
+    "total_tasks": 1,
+    "total_videos": 15,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:4"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "screwdriver.vel"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "screwdriver.vel"
+            ]
+        },
+        "observation.images.screwdriver": {
+            "dtype": "video",
+            "shape": [
+                600,
+                800,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 600,
+                "video.width": 800,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.side": {
+            "dtype": "video",
+            "shape": [
+                600,
+                800,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 600,
+                "video.width": 800,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.top": {
+            "dtype": "video",
+            "shape": [
+                600,
+                800,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 600,
+                "video.width": 800,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."}

videos/chunk-000/observation.images.screwdriver/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51523e2b319ed46bb3b722f6e4776b1210c6f89a73c3cd975f1b5f130a2338d4
+size 6113862

videos/chunk-000/observation.images.screwdriver/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1832a80cae66f26028a14916e5b8aa2f5e0e87e8974b5953f205fd0d566232d
+size 6265961

videos/chunk-000/observation.images.screwdriver/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56d4479e8d14d5d7972b74339ee59efc5750e48520a8321abbf854dc9f641fed
+size 6428400

videos/chunk-000/observation.images.screwdriver/episode_000003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec6905ff86278cafdcb74dbac357313fc72a9018b1fd5cd223495b6d0ce17df6
+size 6129424

videos/chunk-000/observation.images.side/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3db25c8a2eb91b54649a94f3ba383c53ffb2f966a610df3688c60b028aafdd37
+size 6417404

videos/chunk-000/observation.images.side/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b15645ae939754d2f44381a8af69e0468507b548350136262c9154b7354c003a
+size 6514378

videos/chunk-000/observation.images.side/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:248de3b136fbf0fb58dbbc95e9c69a4b3b5b561e9adea8db7d3f84993f9a08b6
+size 6433917

videos/chunk-000/observation.images.side/episode_000003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60e0d95b620793357f3f8202c2a9f756319881de3f64edc5cda9036cfcc2e288
+size 6617613

videos/chunk-000/observation.images.top/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5ff695dd468fd728511128ee13346615e3f1a89e6c6d7e6427fc724e5d27e3e
+size 5385704

videos/chunk-000/observation.images.top/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4185323f1c26bd160ad7a87a52611472de1af03a9e8918710aff3fc43cb6717a
+size 5448490

videos/chunk-000/observation.images.top/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5cf892a19fcb9d0dac7fdf825ebd73b09a32f9b0fd8f7ff0f4bb655ab2336ed
+size 5435307

videos/chunk-000/observation.images.top/episode_000003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cad2cb80501d73eba765d5463cf60c1d44f4581f13ec3e074fe19a67baf60efa
+size 5421432