Hugging Face's logo

Datasets:
padiredd
/
pick-cup-basket-cap2k-raw

Tasks:
Robotics
Tags:
isaac-lab
simulation
raw
ffw-sg2
cyclo_lab
License:
Dataset card Files
xet
 Community
Dataset Viewer
Duplicate
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code:   StreamingRowsError
Exception:    TypeError
Message:      Couldn't cast array of type
struct<success: bool, status: string, arm: string, ticks: int64>
to
{'success': Value('bool'), 'status': Value('string'), 'ticks': Value('int64')}
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 149, in get_rows_or_raise
                  return get_rows(
                      dataset=dataset,
                  ...<4 lines>...
                      column_names=column_names,
                  )
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                File "/src/services/worker/src/worker/utils.py", line 129, in get_rows
                  rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
                File "/src/services/worker/src/worker/utils.py", line 544, in safe_iter
                  yield from ds.decode(False) if ds.features else ds
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 3052, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2559, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2584, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 558, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 440, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 361, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2381, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2315, in cast_table_to_schema
                  cast_array_to_feature(
                  ~~~~~~~~~~~~~~~~~~~~~^
                      table[name] if name in table_column_names else pa.array([None] * len(table), type=schema.field(name).type),
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                      feature,
                      ^^^^^^^^
                  )
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 1861, in wrapper
                  return pa.chunked_array([func(chunk, *args, **kwargs) for chunk in array.chunks])
                                           ~~~~^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2161, in cast_array_to_feature
                  raise TypeError(f"Couldn't cast array of type\n{_short_str(array.type)}\nto\n{_short_str(feature)}")
              TypeError: Couldn't cast array of type
              struct<success: bool, status: string, arm: string, ticks: int64>
              to
              {'success': Value('bool'), 'status': Value('string'), 'ticks': Value('int64')}

Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.

pick-cup-basket-cap2k-raw

v3 bimanual cup-to-basket handover, code-as-policy program cup_handover_v3.py (right close 0.50), seeds 60001+, 121 parts. Raw mp4s of this collection were pruned (to every 10th episode, 2026-11-04) to free disk; obs.npz + meta.json are kept for every episode, and the full-video converted LeRobot set is linked above.

Raw Isaac Lab / Isaac Sim 5.1 collector output for the ROBOTIS FFW SG2 (cyclo_lab real2sim pipeline, padiredd). Kept because it has what the converted LeRobot sets do not: full-resolution video, per-episode randomisation / object metadata and the failed attempts (success: false).

folders 121 (cup2k_v3_p001 ... cup2k_v3_p125)
episodes 2,818 (2,012 successful)
episodes with video 362
files / size 6,964 / 9.2 GB

Converted LeRobot sets (successes only, cameras stretched to 240x240):

Layout

  • <folder>/index.json: collector config of that part and its episode list
  • <folder>/episode_NNNN/: cam_left_head.mp4, cam_left_wrist.mp4, cam_right_wrist.mp4, meta.json, obs.npz
    • obs.npz (example episode, T steps at 15 fps): timestamp (492,), state (492, 22), action (492, 16), obj_pose (492, 7), tray_pose (492, 7), tcp_pose (492, 7), tcp_target (492, 7), phase (492,), tcp_pose_r (492, 7), tcp_target_r (492, 7), phase_r (492,), arm_clearance (492,)
    • meta.json keys: episode, success, status, cup_init_xy_yaw, tray_init_xy_yaw, cup_end_in_tray_frame, cup_tilt_deg, cup_bottom_z, cup_speed, gripper_l_end, gripper_r_end, final_tags, table_top_z, program_sha, program_result, params, skills, dr, arm_clearance, length, fps
  • logs/: collector logs
  • Cameras: cam_left_head.mp4 (672x376), cam_left_wrist.mp4, cam_right_wrist.mp4 (240x424), H.264.

Uploaded 2026-11-06 01:44 UTC with data_collection/hf_datasets/upload_raw.py.
Downloads last month
53
Total file size:
9.17 GB

Collection including padiredd/pick-cup-basket-cap2k-raw