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README.md
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| 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 |
+
|
| 15 |
+
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=ehalicki/thesis-teleop-test">
|
| 16 |
+
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
|
| 17 |
+
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
|
| 18 |
+
</a>
|
| 19 |
+
|
| 20 |
+
|
| 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 |
+
"shoulder_pan.pos",
|
| 41 |
+
"shoulder_lift.pos",
|
| 42 |
+
"elbow_flex.pos",
|
| 43 |
+
"wrist_flex.pos",
|
| 44 |
+
"wrist_yaw.pos",
|
| 45 |
+
"wrist_roll.pos",
|
| 46 |
+
"gripper.pos"
|
| 47 |
+
],
|
| 48 |
+
"shape": [
|
| 49 |
+
7
|
| 50 |
+
]
|
| 51 |
+
},
|
| 52 |
+
"observation.state": {
|
| 53 |
+
"dtype": "float32",
|
| 54 |
+
"names": [
|
| 55 |
+
"shoulder_pan.pos",
|
| 56 |
+
"shoulder_lift.pos",
|
| 57 |
+
"elbow_flex.pos",
|
| 58 |
+
"wrist_flex.pos",
|
| 59 |
+
"wrist_yaw.pos",
|
| 60 |
+
"wrist_roll.pos",
|
| 61 |
+
"gripper.pos",
|
| 62 |
+
"shoulder_pan.torq",
|
| 63 |
+
"shoulder_lift.torq",
|
| 64 |
+
"elbow_flex.torq",
|
| 65 |
+
"wrist_flex.torq",
|
| 66 |
+
"wrist_yaw.torq",
|
| 67 |
+
"wrist_roll.torq",
|
| 68 |
+
"gripper.torq",
|
| 69 |
+
"shoulder_pan.vel",
|
| 70 |
+
"shoulder_lift.vel",
|
| 71 |
+
"elbow_flex.vel",
|
| 72 |
+
"wrist_flex.vel",
|
| 73 |
+
"wrist_yaw.vel",
|
| 74 |
+
"wrist_roll.vel",
|
| 75 |
+
"gripper.vel"
|
| 76 |
+
],
|
| 77 |
+
"shape": [
|
| 78 |
+
21
|
| 79 |
+
]
|
| 80 |
+
},
|
| 81 |
+
"observation.images.zed_left": {
|
| 82 |
+
"dtype": "video",
|
| 83 |
+
"shape": [
|
| 84 |
+
376,
|
| 85 |
+
672,
|
| 86 |
+
3
|
| 87 |
+
],
|
| 88 |
+
"names": [
|
| 89 |
+
"height",
|
| 90 |
+
"width",
|
| 91 |
+
"channels"
|
| 92 |
+
],
|
| 93 |
+
"info": {
|
| 94 |
+
"is_depth_map": false,
|
| 95 |
+
"video.height": 376,
|
| 96 |
+
"video.width": 672,
|
| 97 |
+
"video.codec": "h264",
|
| 98 |
+
"video.pix_fmt": "yuv420p",
|
| 99 |
+
"video.fps": 30,
|
| 100 |
+
"video.channels": 3,
|
| 101 |
+
"has_audio": false,
|
| 102 |
+
"video.g": 2,
|
| 103 |
+
"video.crf": 30,
|
| 104 |
+
"video.preset": null,
|
| 105 |
+
"video.fast_decode": 0,
|
| 106 |
+
"video.video_backend": "pyav",
|
| 107 |
+
"video.extra_options": {}
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"observation.images.zed_right": {
|
| 111 |
+
"dtype": "video",
|
| 112 |
+
"shape": [
|
| 113 |
+
376,
|
| 114 |
+
672,
|
| 115 |
+
3
|
| 116 |
+
],
|
| 117 |
+
"names": [
|
| 118 |
+
"height",
|
| 119 |
+
"width",
|
| 120 |
+
"channels"
|
| 121 |
+
],
|
| 122 |
+
"info": {
|
| 123 |
+
"is_depth_map": false,
|
| 124 |
+
"video.height": 376,
|
| 125 |
+
"video.width": 672,
|
| 126 |
+
"video.codec": "h264",
|
| 127 |
+
"video.pix_fmt": "yuv420p",
|
| 128 |
+
"video.fps": 30,
|
| 129 |
+
"video.channels": 3,
|
| 130 |
+
"has_audio": false,
|
| 131 |
+
"video.g": 2,
|
| 132 |
+
"video.crf": 30,
|
| 133 |
+
"video.preset": null,
|
| 134 |
+
"video.fast_decode": 0,
|
| 135 |
+
"video.video_backend": "pyav",
|
| 136 |
+
"video.extra_options": {}
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"observation.images.wrist_cam": {
|
| 140 |
+
"dtype": "video",
|
| 141 |
+
"shape": [
|
| 142 |
+
360,
|
| 143 |
+
640,
|
| 144 |
+
3
|
| 145 |
+
],
|
| 146 |
+
"names": [
|
| 147 |
+
"height",
|
| 148 |
+
"width",
|
| 149 |
+
"channels"
|
| 150 |
+
],
|
| 151 |
+
"info": {
|
| 152 |
+
"is_depth_map": false,
|
| 153 |
+
"video.height": 360,
|
| 154 |
+
"video.width": 640,
|
| 155 |
+
"video.codec": "h264",
|
| 156 |
+
"video.pix_fmt": "yuv420p",
|
| 157 |
+
"video.fps": 30,
|
| 158 |
+
"video.channels": 3,
|
| 159 |
+
"has_audio": false,
|
| 160 |
+
"video.g": 2,
|
| 161 |
+
"video.crf": 30,
|
| 162 |
+
"video.preset": null,
|
| 163 |
+
"video.fast_decode": 0,
|
| 164 |
+
"video.video_backend": "pyav",
|
| 165 |
+
"video.extra_options": {}
|
| 166 |
+
}
|
| 167 |
+
},
|
| 168 |
+
"timestamp": {
|
| 169 |
+
"dtype": "float32",
|
| 170 |
+
"shape": [
|
| 171 |
+
1
|
| 172 |
+
],
|
| 173 |
+
"names": null
|
| 174 |
+
},
|
| 175 |
+
"frame_index": {
|
| 176 |
+
"dtype": "int64",
|
| 177 |
+
"shape": [
|
| 178 |
+
1
|
| 179 |
+
],
|
| 180 |
+
"names": null
|
| 181 |
+
},
|
| 182 |
+
"episode_index": {
|
| 183 |
+
"dtype": "int64",
|
| 184 |
+
"shape": [
|
| 185 |
+
1
|
| 186 |
+
],
|
| 187 |
+
"names": null
|
| 188 |
+
},
|
| 189 |
+
"index": {
|
| 190 |
+
"dtype": "int64",
|
| 191 |
+
"shape": [
|
| 192 |
+
1
|
| 193 |
+
],
|
| 194 |
+
"names": null
|
| 195 |
+
},
|
| 196 |
+
"task_index": {
|
| 197 |
+
"dtype": "int64",
|
| 198 |
+
"shape": [
|
| 199 |
+
1
|
| 200 |
+
],
|
| 201 |
+
"names": null
|
| 202 |
+
}
|
| 203 |
+
},
|
| 204 |
+
"total_episodes": 4,
|
| 205 |
+
"total_frames": 4139,
|
| 206 |
+
"total_tasks": 1,
|
| 207 |
+
"chunks_size": 1000,
|
| 208 |
+
"data_files_size_in_mb": 100,
|
| 209 |
+
"video_files_size_in_mb": 200,
|
| 210 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 211 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 212 |
+
"robot_type": "rebot_b601_follower",
|
| 213 |
+
"splits": {
|
| 214 |
+
"train": "0:4"
|
| 215 |
+
},
|
| 216 |
+
"robot_config": {
|
| 217 |
+
"robot": {
|
| 218 |
+
"type": "rebot_b601_follower",
|
| 219 |
+
"id": "b601_follower",
|
| 220 |
+
"port": "/dev/ttyACM0",
|
| 221 |
+
"can_adapter": "damiao",
|
| 222 |
+
"dm_serial_baud": 921600,
|
| 223 |
+
"disable_torque_on_disconnect": true,
|
| 224 |
+
"return_home_on_disconnect": true,
|
| 225 |
+
"home_duration_s": 1.25,
|
| 226 |
+
"home_joint_durations_s": "{'elbow_flex': 2.0}",
|
| 227 |
+
"gripper_close_duration_s": 1.0,
|
| 228 |
+
"wrist_lower_duration_s": 0.67,
|
| 229 |
+
"home_wrist_flex_deg": -45.0,
|
| 230 |
+
"max_relative_target": null,
|
| 231 |
+
"cameras": {
|
| 232 |
+
"zed_left": {
|
| 233 |
+
"fps": 30,
|
| 234 |
+
"width": 672,
|
| 235 |
+
"height": 376,
|
| 236 |
+
"side": "left",
|
| 237 |
+
"serial_number": "13925480"
|
| 238 |
+
},
|
| 239 |
+
"zed_right": {
|
| 240 |
+
"fps": 30,
|
| 241 |
+
"width": 672,
|
| 242 |
+
"height": 376,
|
| 243 |
+
"side": "right",
|
| 244 |
+
"serial_number": "13925480"
|
| 245 |
+
},
|
| 246 |
+
"wrist_cam": {
|
| 247 |
+
"fps": 30,
|
| 248 |
+
"width": 640,
|
| 249 |
+
"height": 360,
|
| 250 |
+
"index_or_path": "/dev/video0",
|
| 251 |
+
"color_mode": "rgb",
|
| 252 |
+
"rotation": 0,
|
| 253 |
+
"warmup_s": 3,
|
| 254 |
+
"fourcc": "MJPG",
|
| 255 |
+
"backend": 200
|
| 256 |
+
}
|
| 257 |
+
},
|
| 258 |
+
"motor_can_ids": {
|
| 259 |
+
"shoulder_pan": [
|
| 260 |
+
1,
|
| 261 |
+
17
|
| 262 |
+
],
|
| 263 |
+
"shoulder_lift": [
|
| 264 |
+
2,
|
| 265 |
+
18
|
| 266 |
+
],
|
| 267 |
+
"elbow_flex": [
|
| 268 |
+
3,
|
| 269 |
+
19
|
| 270 |
+
],
|
| 271 |
+
"wrist_flex": [
|
| 272 |
+
4,
|
| 273 |
+
20
|
| 274 |
+
],
|
| 275 |
+
"wrist_yaw": [
|
| 276 |
+
5,
|
| 277 |
+
21
|
| 278 |
+
],
|
| 279 |
+
"wrist_roll": [
|
| 280 |
+
6,
|
| 281 |
+
22
|
| 282 |
+
],
|
| 283 |
+
"gripper": [
|
| 284 |
+
7,
|
| 285 |
+
23
|
| 286 |
+
]
|
| 287 |
+
},
|
| 288 |
+
"pos_vel_velocity": [
|
| 289 |
+
150.0,
|
| 290 |
+
150.0,
|
| 291 |
+
150.0,
|
| 292 |
+
150.0,
|
| 293 |
+
150.0,
|
| 294 |
+
150.0,
|
| 295 |
+
900.0
|
| 296 |
+
],
|
| 297 |
+
"control_mode": "mit",
|
| 298 |
+
"mit_kp": [
|
| 299 |
+
45.0,
|
| 300 |
+
45.0,
|
| 301 |
+
45.0,
|
| 302 |
+
8.0,
|
| 303 |
+
9.0,
|
| 304 |
+
8.0,
|
| 305 |
+
8.0
|
| 306 |
+
],
|
| 307 |
+
"mit_kd": [
|
| 308 |
+
12.0,
|
| 309 |
+
12.0,
|
| 310 |
+
12.0,
|
| 311 |
+
1.0,
|
| 312 |
+
1.0,
|
| 313 |
+
1.0,
|
| 314 |
+
1.0
|
| 315 |
+
],
|
| 316 |
+
"gravity_compensation": true,
|
| 317 |
+
"gravity_gain": 1.0,
|
| 318 |
+
"gravity_scale": {},
|
| 319 |
+
"gravity_payload_kg": 0.0,
|
| 320 |
+
"gravity_payload_com": [
|
| 321 |
+
0.0,
|
| 322 |
+
0.0,
|
| 323 |
+
0.0
|
| 324 |
+
],
|
| 325 |
+
"gravity_max_torque": 20.0,
|
| 326 |
+
"temp_warn_c": 57.0,
|
| 327 |
+
"temp_danger_c": 61.0,
|
| 328 |
+
"temp_max_c": 65.0,
|
| 329 |
+
"temp_warn_repeat_s": 3.0,
|
| 330 |
+
"temp_danger_repeat_s": 1.0,
|
| 331 |
+
"temp_history_s": 60.0,
|
| 332 |
+
"temp_sample_hz": 10.0,
|
| 333 |
+
"temp_shutdown_enabled": true,
|
| 334 |
+
"temp_debug": false,
|
| 335 |
+
"gripper_control_mode": "force_pos",
|
| 336 |
+
"gripper_torque_ratio": 0.07,
|
| 337 |
+
"gripper_mit_kp": 8.0,
|
| 338 |
+
"gripper_mit_kd": 0.3,
|
| 339 |
+
"send_rate_hz": 100.0,
|
| 340 |
+
"can_error_grace_s": 2.0,
|
| 341 |
+
"profile_log_path": null,
|
| 342 |
+
"enable_trajectory_smoothing": true,
|
| 343 |
+
"smoothing_time_constant_s": 0.02,
|
| 344 |
+
"joint_limits": {
|
| 345 |
+
"shoulder_pan": [
|
| 346 |
+
-150.0,
|
| 347 |
+
150.0
|
| 348 |
+
],
|
| 349 |
+
"shoulder_lift": [
|
| 350 |
+
-200.0,
|
| 351 |
+
1.0
|
| 352 |
+
],
|
| 353 |
+
"elbow_flex": [
|
| 354 |
+
-200.0,
|
| 355 |
+
1.0
|
| 356 |
+
],
|
| 357 |
+
"wrist_flex": [
|
| 358 |
+
-80.0,
|
| 359 |
+
90.0
|
| 360 |
+
],
|
| 361 |
+
"wrist_yaw": [
|
| 362 |
+
-90.0,
|
| 363 |
+
90.0
|
| 364 |
+
],
|
| 365 |
+
"wrist_roll": [
|
| 366 |
+
-90.0,
|
| 367 |
+
90.0
|
| 368 |
+
],
|
| 369 |
+
"gripper": [
|
| 370 |
+
-270.0,
|
| 371 |
+
0.0
|
| 372 |
+
]
|
| 373 |
+
},
|
| 374 |
+
"calibration_dir": null
|
| 375 |
+
},
|
| 376 |
+
"teleop": {
|
| 377 |
+
"type": "rebot_102_leader",
|
| 378 |
+
"id": "b601_leader",
|
| 379 |
+
"port": "/dev/ttyUSB0",
|
| 380 |
+
"baudrate": 1000000,
|
| 381 |
+
"joint_ids": {
|
| 382 |
+
"shoulder_pan": 0,
|
| 383 |
+
"shoulder_lift": 1,
|
| 384 |
+
"elbow_flex": 2,
|
| 385 |
+
"wrist_flex": 3,
|
| 386 |
+
"wrist_yaw": 4,
|
| 387 |
+
"wrist_roll": 5,
|
| 388 |
+
"gripper": 6
|
| 389 |
+
},
|
| 390 |
+
"joint_directions": {
|
| 391 |
+
"shoulder_pan": -1,
|
| 392 |
+
"shoulder_lift": -1,
|
| 393 |
+
"elbow_flex": 1,
|
| 394 |
+
"wrist_flex": 1,
|
| 395 |
+
"wrist_yaw": 1,
|
| 396 |
+
"wrist_roll": -1,
|
| 397 |
+
"gripper": -6
|
| 398 |
+
},
|
| 399 |
+
"joint_ranges": {
|
| 400 |
+
"shoulder_pan": [
|
| 401 |
+
-150,
|
| 402 |
+
150
|
| 403 |
+
],
|
| 404 |
+
"shoulder_lift": [
|
| 405 |
+
-200,
|
| 406 |
+
1
|
| 407 |
+
],
|
| 408 |
+
"elbow_flex": [
|
| 409 |
+
-200,
|
| 410 |
+
1
|
| 411 |
+
],
|
| 412 |
+
"wrist_flex": [
|
| 413 |
+
-80,
|
| 414 |
+
90
|
| 415 |
+
],
|
| 416 |
+
"wrist_yaw": [
|
| 417 |
+
-90,
|
| 418 |
+
90
|
| 419 |
+
],
|
| 420 |
+
"wrist_roll": [
|
| 421 |
+
-90,
|
| 422 |
+
90
|
| 423 |
+
],
|
| 424 |
+
"gripper": [
|
| 425 |
+
-270,
|
| 426 |
+
0
|
| 427 |
+
]
|
| 428 |
+
},
|
| 429 |
+
"calibration_dir": null
|
| 430 |
+
}
|
| 431 |
+
}
|
| 432 |
+
}
|
| 433 |
+
```
|
| 434 |
+
|
| 435 |
+
|
| 436 |
+
## Citation
|
| 437 |
+
|
| 438 |
+
**BibTeX:**
|
| 439 |
+
|
| 440 |
+
```bibtex
|
| 441 |
+
[More Information Needed]
|
| 442 |
+
```
|