|
--- |
|
license: apache-2.0 |
|
task_categories: |
|
- robotics |
|
tags: |
|
- LeRobot |
|
- test |
|
- tutorial |
|
configs: |
|
- config_name: default |
|
data_files: data/*/*.parquet |
|
--- |
|
|
|
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
|
## 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": "v2.0", |
|
"robot_type": "so100", |
|
"total_episodes": 2, |
|
"total_frames": 418, |
|
"total_tasks": 1, |
|
"total_videos": 4, |
|
"total_chunks": 1, |
|
"chunks_size": 1000, |
|
"fps": 30, |
|
"splits": { |
|
"train": "0:2" |
|
}, |
|
"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": [ |
|
"main_shoulder_pan", |
|
"main_shoulder_lift", |
|
"main_elbow_flex", |
|
"main_wrist_flex", |
|
"main_wrist_roll", |
|
"main_gripper" |
|
] |
|
}, |
|
"observation.state": { |
|
"dtype": "float32", |
|
"shape": [ |
|
6 |
|
], |
|
"names": [ |
|
"main_shoulder_pan", |
|
"main_shoulder_lift", |
|
"main_elbow_flex", |
|
"main_wrist_flex", |
|
"main_wrist_roll", |
|
"main_gripper" |
|
] |
|
}, |
|
"observation.images.endeffector": { |
|
"dtype": "video", |
|
"shape": [ |
|
480, |
|
640, |
|
3 |
|
], |
|
"names": [ |
|
"height", |
|
"width", |
|
"channels" |
|
], |
|
"info": { |
|
"video.fps": 30.0, |
|
"video.height": 480, |
|
"video.width": 640, |
|
"video.channels": 3, |
|
"video.codec": "av1", |
|
"video.pix_fmt": "yuv420p", |
|
"video.is_depth_map": false, |
|
"has_audio": false |
|
} |
|
}, |
|
"observation.images.workspace": { |
|
"dtype": "video", |
|
"shape": [ |
|
480, |
|
640, |
|
3 |
|
], |
|
"names": [ |
|
"height", |
|
"width", |
|
"channels" |
|
], |
|
"info": { |
|
"video.fps": 30.0, |
|
"video.height": 480, |
|
"video.width": 640, |
|
"video.channels": 3, |
|
"video.codec": "av1", |
|
"video.pix_fmt": "yuv420p", |
|
"video.is_depth_map": false, |
|
"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] |
|
``` |
