Add files using upload-large-folder tool

README.md

@@ -18,9 +18,254 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
 
 ## Dataset Description
 
-Bimanual golfball-into-cup demonstrations with TRLC DK1 robot.
+Bimanual golfball-into-cup task with TRLC DK1 robot.
 
 - **Robot:** TRLC DK1 bimanual (`bi_dk1_follower`) — 2× 6-DOF arms with grippers
 - **Task:** Pick up the white golf ball from the table and place it into the cup.
 - **Episodes:** 19
 - **Total frames:** 9,281 (5.2 min @ 30 fps)
+- **Avg episode length:** 16.3s
+- **License:** apache-2.0
+
+### Cameras
+
+| Camera | Resolution | Codec | FPS |
+|---|---|---|---|
+| `observation.images.head` | 1280x720 | h264 | 30 |
+| `observation.images.left_wrist` | 1280x720 | h264 | 30 |
+| `observation.images.right_wrist` | 1280x720 | h264 | 30 |
+
+### Observation Space
+
+- **`observation.state`**: float32[40] — left_joint_1.pos, left_joint_1.vel, left_joint_1.torque, left_joint_2.pos, left_joint_2.vel, left_joint_2.torque... (joint positions, velocities, torques for both arms + grippers)
+- **`observation.images.*`**: 3 camera streams
+
+### Action Space
+
+- **`action`**: float32[14] — left_joint_1.pos, left_joint_2.pos, left_joint_3.pos, left_joint_4.pos, left_joint_5.pos, left_joint_6.pos... (joint position targets for both arms + grippers)
+
+## Loading the Dataset
+
+```python
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+dataset = LeRobotDataset("andreaskoepf/dk1_golfball_into_cup")
+
+# Access a frame
+frame = dataset[0]
+print(frame["observation.state"].shape)  # torch.Size([40])
+print(frame["action"].shape)             # torch.Size([14])
+print(frame["observation.images.head"].shape)  # torch.Size([3, 720, 1280])
+```
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v3.0",
+    "robot_type": "bi_dk1_follower",
+    "total_episodes": 19,
+    "total_frames": 9281,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 1,
+    "video_files_size_in_mb": 1294,
+    "fps": 30,
+    "splits": {
+        "train": "0:19"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "names": [
+                "left_joint_1.pos",
+                "left_joint_2.pos",
+                "left_joint_3.pos",
+                "left_joint_4.pos",
+                "left_joint_5.pos",
+                "left_joint_6.pos",
+                "left_gripper.pos",
+                "right_joint_1.pos",
+                "right_joint_2.pos",
+                "right_joint_3.pos",
+                "right_joint_4.pos",
+                "right_joint_5.pos",
+                "right_joint_6.pos",
+                "right_gripper.pos"
+            ],
+            "shape": [
+                14
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "names": [
+                "left_joint_1.pos",
+                "left_joint_1.vel",
+                "left_joint_1.torque",
+                "left_joint_2.pos",
+                "left_joint_2.vel",
+                "left_joint_2.torque",
+                "left_joint_3.pos",
+                "left_joint_3.vel",
+                "left_joint_3.torque",
+                "left_joint_4.pos",
+                "left_joint_4.vel",
+                "left_joint_4.torque",
+                "left_joint_5.pos",
+                "left_joint_5.vel",
+                "left_joint_5.torque",
+                "left_joint_6.pos",
+                "left_joint_6.vel",
+                "left_joint_6.torque",
+                "left_gripper.pos",
+                "left_gripper.torque",
+                "right_joint_1.pos",
+                "right_joint_1.vel",
+                "right_joint_1.torque",
+                "right_joint_2.pos",
+                "right_joint_2.vel",
+                "right_joint_2.torque",
+                "right_joint_3.pos",
+                "right_joint_3.vel",
+                "right_joint_3.torque",
+                "right_joint_4.pos",
+                "right_joint_4.vel",
+                "right_joint_4.torque",
+                "right_joint_5.pos",
+                "right_joint_5.vel",
+                "right_joint_5.torque",
+                "right_joint_6.pos",
+                "right_joint_6.vel",
+                "right_joint_6.torque",
+                "right_gripper.pos",
+                "right_gripper.torque"
+            ],
+            "shape": [
+                40
+            ]
+        },
+        "observation.images.head": {
+            "dtype": "video",
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "shape": [
+                720,
+                1280,
+                3
+            ],
+            "info": {
+                "video.height": 720,
+                "video.width": 1280,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.fps": 30,
+                "video.channels": 3,
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.left_wrist": {
+            "dtype": "video",
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "shape": [
+                720,
+                1280,
+                3
+            ],
+            "info": {
+                "video.height": 720,
+                "video.width": 1280,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.fps": 30,
+                "video.channels": 3,
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.right_wrist": {
+            "dtype": "video",
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "shape": [
+                720,
+                1280,
+                3
+            ],
+            "info": {
+                "video.height": 720,
+                "video.width": 1280,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.fps": 30,
+                "video.channels": 3,
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "names": null,
+            "shape": [
+                1
+            ]
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "names": null,
+            "shape": [
+                1
+            ]
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "names": null,
+            "shape": [
+                1
+            ]
+        },
+        "index": {
+            "dtype": "int64",
+            "names": null,
+            "shape": [
+                1
+            ]
+        },
+        "task_index": {
+            "dtype": "int64",
+            "names": null,
+            "shape": [
+                1
+            ]
+        }
+    }
+}
+```
+
+## Citation
+
+**BibTeX:**
+
+```bibtex
+@misc{andreaskoepf_dk1_golfball_into_cup,
+  title = {Pick up the white golf ball from the table and place it into the cup.},
+  author = {The Robot Learning Company},
+  year = {2026},
+  publisher = {HuggingFace},
+  url = {https://huggingface.co/datasets/andreaskoepf/dk1_golfball_into_cup}
+}
+```

meta/episodes/chunk-000/file-000.parquet

@@ -1,3 +1,3 @@
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-size 139410
+oid sha256:910f090e550e30144f3d53d6f3667dd320099ff6f041ace3c9c6822501f5cf88
+size 139398

meta/info.json

@@ -155,38 +155,38 @@
     },
     "timestamp": {
       "dtype": "float32",
+      "names": null,
       "shape": [
         1
-      ],
-      "names": null
+      ]
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+      "names": null,
       "shape": [
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     "episode_index": {
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+      ]
     }
   }
 }