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README.md
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| 1 |
+
---
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| 2 |
+
license: apache-2.0
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| 3 |
+
task_categories:
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| 4 |
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- robotics
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| 5 |
+
tags:
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| 6 |
+
- LeRobot
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| 7 |
+
configs:
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| 8 |
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- config_name: default
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| 9 |
+
data_files: data/*/*.parquet
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| 10 |
+
---
|
| 11 |
+
|
| 12 |
+
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
|
| 13 |
+
|
| 14 |
+
|
| 15 |
+
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=mklovin/blockstackingPMM_v2">
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| 16 |
+
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
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| 17 |
+
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
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| 18 |
+
</a>
|
| 19 |
+
|
| 20 |
+
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| 21 |
+
## Dataset Description
|
| 22 |
+
|
| 23 |
+
|
| 24 |
+
|
| 25 |
+
- **Homepage:** [More Information Needed]
|
| 26 |
+
- **Paper:** [More Information Needed]
|
| 27 |
+
- **License:** apache-2.0
|
| 28 |
+
|
| 29 |
+
## Dataset Structure
|
| 30 |
+
|
| 31 |
+
[meta/info.json](meta/info.json):
|
| 32 |
+
```json
|
| 33 |
+
{
|
| 34 |
+
"codebase_version": "v3.0",
|
| 35 |
+
"fps": 30,
|
| 36 |
+
"features": {
|
| 37 |
+
"action": {
|
| 38 |
+
"dtype": "float32",
|
| 39 |
+
"names": [
|
| 40 |
+
"rh_pos_x",
|
| 41 |
+
"rh_pos_y",
|
| 42 |
+
"rh_pos_z",
|
| 43 |
+
"rh_quat_w",
|
| 44 |
+
"rh_quat_x",
|
| 45 |
+
"rh_quat_y",
|
| 46 |
+
"rh_quat_z",
|
| 47 |
+
"rh_gripper",
|
| 48 |
+
"lh_pos_x",
|
| 49 |
+
"lh_pos_y",
|
| 50 |
+
"lh_pos_z",
|
| 51 |
+
"lh_quat_w",
|
| 52 |
+
"lh_quat_x",
|
| 53 |
+
"lh_quat_y",
|
| 54 |
+
"lh_quat_z",
|
| 55 |
+
"lh_gripper",
|
| 56 |
+
"head_quat_w",
|
| 57 |
+
"head_quat_x",
|
| 58 |
+
"head_quat_y",
|
| 59 |
+
"head_quat_z"
|
| 60 |
+
],
|
| 61 |
+
"shape": [
|
| 62 |
+
20
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
"observation.state": {
|
| 66 |
+
"dtype": "float32",
|
| 67 |
+
"names": [
|
| 68 |
+
"torso_pitch",
|
| 69 |
+
"torso_roll",
|
| 70 |
+
"torso_yaw",
|
| 71 |
+
"l_shoulder_pitch",
|
| 72 |
+
"l_shoulder_roll",
|
| 73 |
+
"l_shoulder_yaw",
|
| 74 |
+
"l_elbow",
|
| 75 |
+
"l_wrist_prosup",
|
| 76 |
+
"l_wrist_pitch",
|
| 77 |
+
"l_wrist_yaw",
|
| 78 |
+
"l_hand_finger",
|
| 79 |
+
"l_thumb_oppose",
|
| 80 |
+
"l_thumb_proximal",
|
| 81 |
+
"l_thumb_distal",
|
| 82 |
+
"l_index_proximal",
|
| 83 |
+
"l_index_distal",
|
| 84 |
+
"l_middle_proximal",
|
| 85 |
+
"l_middle_distal",
|
| 86 |
+
"l_pinky",
|
| 87 |
+
"r_shoulder_pitch",
|
| 88 |
+
"r_shoulder_roll",
|
| 89 |
+
"r_shoulder_yaw",
|
| 90 |
+
"r_elbow",
|
| 91 |
+
"r_wrist_prosup",
|
| 92 |
+
"r_wrist_pitch",
|
| 93 |
+
"r_wrist_yaw",
|
| 94 |
+
"r_hand_finger",
|
| 95 |
+
"r_thumb_oppose",
|
| 96 |
+
"r_thumb_proximal",
|
| 97 |
+
"r_thumb_distal",
|
| 98 |
+
"r_index_proximal",
|
| 99 |
+
"r_index_distal",
|
| 100 |
+
"r_middle_proximal",
|
| 101 |
+
"r_middle_distal",
|
| 102 |
+
"r_pinky",
|
| 103 |
+
"neck_pitch",
|
| 104 |
+
"neck_roll",
|
| 105 |
+
"neck_yaw",
|
| 106 |
+
"eyes_tilt",
|
| 107 |
+
"eyes_version",
|
| 108 |
+
"eyes_vergence",
|
| 109 |
+
"torso_pitch_vel",
|
| 110 |
+
"torso_roll_vel",
|
| 111 |
+
"torso_yaw_vel",
|
| 112 |
+
"l_shoulder_pitch_vel",
|
| 113 |
+
"l_shoulder_roll_vel",
|
| 114 |
+
"l_shoulder_yaw_vel",
|
| 115 |
+
"l_elbow_vel",
|
| 116 |
+
"l_wrist_prosup_vel",
|
| 117 |
+
"l_wrist_pitch_vel",
|
| 118 |
+
"l_wrist_yaw_vel",
|
| 119 |
+
"l_hand_finger_vel",
|
| 120 |
+
"l_thumb_oppose_vel",
|
| 121 |
+
"l_thumb_proximal_vel",
|
| 122 |
+
"l_thumb_distal_vel",
|
| 123 |
+
"l_index_proximal_vel",
|
| 124 |
+
"l_index_distal_vel",
|
| 125 |
+
"l_middle_proximal_vel",
|
| 126 |
+
"l_middle_distal_vel",
|
| 127 |
+
"l_pinky_vel",
|
| 128 |
+
"r_shoulder_pitch_vel",
|
| 129 |
+
"r_shoulder_roll_vel",
|
| 130 |
+
"r_shoulder_yaw_vel",
|
| 131 |
+
"r_elbow_vel",
|
| 132 |
+
"r_wrist_prosup_vel",
|
| 133 |
+
"r_wrist_pitch_vel",
|
| 134 |
+
"r_wrist_yaw_vel",
|
| 135 |
+
"r_hand_finger_vel",
|
| 136 |
+
"r_thumb_oppose_vel",
|
| 137 |
+
"r_thumb_proximal_vel",
|
| 138 |
+
"r_thumb_distal_vel",
|
| 139 |
+
"r_index_proximal_vel",
|
| 140 |
+
"r_index_distal_vel",
|
| 141 |
+
"r_middle_proximal_vel",
|
| 142 |
+
"r_middle_distal_vel",
|
| 143 |
+
"r_pinky_vel",
|
| 144 |
+
"neck_pitch_vel",
|
| 145 |
+
"neck_roll_vel",
|
| 146 |
+
"neck_yaw_vel",
|
| 147 |
+
"eyes_tilt_vel",
|
| 148 |
+
"eyes_version_vel",
|
| 149 |
+
"eyes_vergence_vel",
|
| 150 |
+
"rh_ee_pos_x",
|
| 151 |
+
"rh_ee_pos_y",
|
| 152 |
+
"rh_ee_pos_z",
|
| 153 |
+
"rh_ee_quat_w",
|
| 154 |
+
"rh_ee_quat_x",
|
| 155 |
+
"rh_ee_quat_y",
|
| 156 |
+
"rh_ee_quat_z",
|
| 157 |
+
"lh_ee_pos_x",
|
| 158 |
+
"lh_ee_pos_y",
|
| 159 |
+
"lh_ee_pos_z",
|
| 160 |
+
"lh_ee_quat_w",
|
| 161 |
+
"lh_ee_quat_x",
|
| 162 |
+
"lh_ee_quat_y",
|
| 163 |
+
"lh_ee_quat_z",
|
| 164 |
+
"head_ee_quat_w",
|
| 165 |
+
"head_ee_quat_x",
|
| 166 |
+
"head_ee_quat_y",
|
| 167 |
+
"head_ee_quat_z",
|
| 168 |
+
"rh_target_pos_x",
|
| 169 |
+
"rh_target_pos_y",
|
| 170 |
+
"rh_target_pos_z",
|
| 171 |
+
"rh_target_quat_w",
|
| 172 |
+
"rh_target_quat_x",
|
| 173 |
+
"rh_target_quat_y",
|
| 174 |
+
"rh_target_quat_z",
|
| 175 |
+
"lh_target_pos_x",
|
| 176 |
+
"lh_target_pos_y",
|
| 177 |
+
"lh_target_pos_z",
|
| 178 |
+
"lh_target_quat_w",
|
| 179 |
+
"lh_target_quat_x",
|
| 180 |
+
"lh_target_quat_y",
|
| 181 |
+
"lh_target_quat_z",
|
| 182 |
+
"head_target_quat_w",
|
| 183 |
+
"head_target_quat_x",
|
| 184 |
+
"head_target_quat_y",
|
| 185 |
+
"head_target_quat_z",
|
| 186 |
+
"rh_gripper",
|
| 187 |
+
"lh_gripper",
|
| 188 |
+
"rh_touch_thumb",
|
| 189 |
+
"rh_touch_index",
|
| 190 |
+
"rh_touch_middle",
|
| 191 |
+
"lh_touch_thumb",
|
| 192 |
+
"lh_touch_index",
|
| 193 |
+
"lh_touch_middle",
|
| 194 |
+
"obj0_pos_x",
|
| 195 |
+
"obj0_pos_y",
|
| 196 |
+
"obj0_pos_z",
|
| 197 |
+
"obj0_quat_w",
|
| 198 |
+
"obj0_quat_x",
|
| 199 |
+
"obj0_quat_y",
|
| 200 |
+
"obj0_quat_z",
|
| 201 |
+
"obj1_pos_x",
|
| 202 |
+
"obj1_pos_y",
|
| 203 |
+
"obj1_pos_z",
|
| 204 |
+
"obj1_quat_w",
|
| 205 |
+
"obj1_quat_x",
|
| 206 |
+
"obj1_quat_y",
|
| 207 |
+
"obj1_quat_z",
|
| 208 |
+
"torso_pitch_torque",
|
| 209 |
+
"torso_roll_torque",
|
| 210 |
+
"torso_yaw_torque",
|
| 211 |
+
"l_shoulder_pitch_torque",
|
| 212 |
+
"l_shoulder_roll_torque",
|
| 213 |
+
"l_shoulder_yaw_torque",
|
| 214 |
+
"l_elbow_torque",
|
| 215 |
+
"l_wrist_prosup_torque",
|
| 216 |
+
"l_wrist_pitch_torque",
|
| 217 |
+
"l_wrist_yaw_torque",
|
| 218 |
+
"l_hand_finger_torque",
|
| 219 |
+
"l_thumb_oppose_torque",
|
| 220 |
+
"l_thumb_proximal_torque",
|
| 221 |
+
"l_thumb_distal_torque",
|
| 222 |
+
"l_index_proximal_torque",
|
| 223 |
+
"l_index_distal_torque",
|
| 224 |
+
"l_middle_proximal_torque",
|
| 225 |
+
"l_middle_distal_torque",
|
| 226 |
+
"l_pinky_torque",
|
| 227 |
+
"r_shoulder_pitch_torque",
|
| 228 |
+
"r_shoulder_roll_torque",
|
| 229 |
+
"r_shoulder_yaw_torque",
|
| 230 |
+
"r_elbow_torque",
|
| 231 |
+
"r_wrist_prosup_torque",
|
| 232 |
+
"r_wrist_pitch_torque",
|
| 233 |
+
"r_wrist_yaw_torque",
|
| 234 |
+
"r_hand_finger_torque",
|
| 235 |
+
"r_thumb_oppose_torque",
|
| 236 |
+
"r_thumb_proximal_torque",
|
| 237 |
+
"r_thumb_distal_torque",
|
| 238 |
+
"r_index_proximal_torque",
|
| 239 |
+
"r_index_distal_torque",
|
| 240 |
+
"r_middle_proximal_torque",
|
| 241 |
+
"r_middle_distal_torque",
|
| 242 |
+
"r_pinky_torque",
|
| 243 |
+
"neck_pitch_torque",
|
| 244 |
+
"neck_roll_torque",
|
| 245 |
+
"neck_yaw_torque",
|
| 246 |
+
"eyes_tilt_torque",
|
| 247 |
+
"eyes_version_torque",
|
| 248 |
+
"eyes_vergence_torque"
|
| 249 |
+
],
|
| 250 |
+
"shape": [
|
| 251 |
+
181
|
| 252 |
+
]
|
| 253 |
+
},
|
| 254 |
+
"observation.images.left": {
|
| 255 |
+
"dtype": "video",
|
| 256 |
+
"shape": [
|
| 257 |
+
240,
|
| 258 |
+
320,
|
| 259 |
+
3
|
| 260 |
+
],
|
| 261 |
+
"names": [
|
| 262 |
+
"height",
|
| 263 |
+
"width",
|
| 264 |
+
"channels"
|
| 265 |
+
],
|
| 266 |
+
"info": {
|
| 267 |
+
"is_depth_map": false,
|
| 268 |
+
"video.height": 240,
|
| 269 |
+
"video.width": 320,
|
| 270 |
+
"video.codec": "av1",
|
| 271 |
+
"video.pix_fmt": "yuv420p",
|
| 272 |
+
"video.fps": 30,
|
| 273 |
+
"video.channels": 3,
|
| 274 |
+
"has_audio": false,
|
| 275 |
+
"video.g": 2,
|
| 276 |
+
"video.crf": 30,
|
| 277 |
+
"video.preset": 12,
|
| 278 |
+
"video.fast_decode": 0,
|
| 279 |
+
"video.video_backend": "pyav",
|
| 280 |
+
"video.extra_options": {}
|
| 281 |
+
}
|
| 282 |
+
},
|
| 283 |
+
"observation.images.right": {
|
| 284 |
+
"dtype": "video",
|
| 285 |
+
"shape": [
|
| 286 |
+
240,
|
| 287 |
+
320,
|
| 288 |
+
3
|
| 289 |
+
],
|
| 290 |
+
"names": [
|
| 291 |
+
"height",
|
| 292 |
+
"width",
|
| 293 |
+
"channels"
|
| 294 |
+
],
|
| 295 |
+
"info": {
|
| 296 |
+
"is_depth_map": false,
|
| 297 |
+
"video.height": 240,
|
| 298 |
+
"video.width": 320,
|
| 299 |
+
"video.codec": "av1",
|
| 300 |
+
"video.pix_fmt": "yuv420p",
|
| 301 |
+
"video.fps": 30,
|
| 302 |
+
"video.channels": 3,
|
| 303 |
+
"has_audio": false,
|
| 304 |
+
"video.g": 2,
|
| 305 |
+
"video.crf": 30,
|
| 306 |
+
"video.preset": 12,
|
| 307 |
+
"video.fast_decode": 0,
|
| 308 |
+
"video.video_backend": "pyav",
|
| 309 |
+
"video.extra_options": {}
|
| 310 |
+
}
|
| 311 |
+
},
|
| 312 |
+
"observation.images.front": {
|
| 313 |
+
"dtype": "video",
|
| 314 |
+
"shape": [
|
| 315 |
+
240,
|
| 316 |
+
320,
|
| 317 |
+
3
|
| 318 |
+
],
|
| 319 |
+
"names": [
|
| 320 |
+
"height",
|
| 321 |
+
"width",
|
| 322 |
+
"channels"
|
| 323 |
+
],
|
| 324 |
+
"info": {
|
| 325 |
+
"is_depth_map": false,
|
| 326 |
+
"video.height": 240,
|
| 327 |
+
"video.width": 320,
|
| 328 |
+
"video.codec": "av1",
|
| 329 |
+
"video.pix_fmt": "yuv420p",
|
| 330 |
+
"video.fps": 30,
|
| 331 |
+
"video.channels": 3,
|
| 332 |
+
"has_audio": false,
|
| 333 |
+
"video.g": 2,
|
| 334 |
+
"video.crf": 30,
|
| 335 |
+
"video.preset": 12,
|
| 336 |
+
"video.fast_decode": 0,
|
| 337 |
+
"video.video_backend": "pyav",
|
| 338 |
+
"video.extra_options": {}
|
| 339 |
+
}
|
| 340 |
+
},
|
| 341 |
+
"timestamp": {
|
| 342 |
+
"dtype": "float32",
|
| 343 |
+
"shape": [
|
| 344 |
+
1
|
| 345 |
+
],
|
| 346 |
+
"names": null
|
| 347 |
+
},
|
| 348 |
+
"frame_index": {
|
| 349 |
+
"dtype": "int64",
|
| 350 |
+
"shape": [
|
| 351 |
+
1
|
| 352 |
+
],
|
| 353 |
+
"names": null
|
| 354 |
+
},
|
| 355 |
+
"episode_index": {
|
| 356 |
+
"dtype": "int64",
|
| 357 |
+
"shape": [
|
| 358 |
+
1
|
| 359 |
+
],
|
| 360 |
+
"names": null
|
| 361 |
+
},
|
| 362 |
+
"index": {
|
| 363 |
+
"dtype": "int64",
|
| 364 |
+
"shape": [
|
| 365 |
+
1
|
| 366 |
+
],
|
| 367 |
+
"names": null
|
| 368 |
+
},
|
| 369 |
+
"task_index": {
|
| 370 |
+
"dtype": "int64",
|
| 371 |
+
"shape": [
|
| 372 |
+
1
|
| 373 |
+
],
|
| 374 |
+
"names": null
|
| 375 |
+
}
|
| 376 |
+
},
|
| 377 |
+
"total_episodes": 100,
|
| 378 |
+
"total_frames": 55649,
|
| 379 |
+
"total_tasks": 1,
|
| 380 |
+
"chunks_size": 1000,
|
| 381 |
+
"data_files_size_in_mb": 100,
|
| 382 |
+
"video_files_size_in_mb": 200,
|
| 383 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 384 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 385 |
+
"robot_type": "icub_mujoco",
|
| 386 |
+
"splits": {
|
| 387 |
+
"train": "0:100"
|
| 388 |
+
}
|
| 389 |
+
}
|
| 390 |
+
```
|
| 391 |
+
|
| 392 |
+
|
| 393 |
+
## Citation
|
| 394 |
+
|
| 395 |
+
**BibTeX:**
|
| 396 |
+
|
| 397 |
+
```bibtex
|
| 398 |
+
[More Information Needed]
|
| 399 |
+
```
|