| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - robotis |
| - LeRobot |
| - omy_f3m_multi |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [Physical AI Tools](https://github.com/ROBOTIS-GIT/physical_ai_tools) and [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Dataset Description |
|
|
|
|
|
|
| - **Homepage:** [More Information Needed] |
| - **License:** apache-2.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "total_episodes": 100, |
| "total_frames": 92808, |
| "total_videos": 300, |
| "codebase_version": "v2.1", |
| "robot_type": "omy_f3m_multi", |
| "total_tasks": 1, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 30, |
| "splits": { |
| "train": "0:99" |
| }, |
| "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": { |
| "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 |
| }, |
| "observation.images.left_cam_wrist": { |
| "dtype": "video", |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.channels": 3, |
| "video.codec": "libx264", |
| "video.pix_fmt": "yuv420p" |
| } |
| }, |
| "observation.images.right_cam_wrist": { |
| "dtype": "video", |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.channels": 3, |
| "video.codec": "libx264", |
| "video.pix_fmt": "yuv420p" |
| } |
| }, |
| "observation.images.third_view": { |
| "dtype": "video", |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.channels": 3, |
| "video.codec": "libx264", |
| "video.pix_fmt": "yuv420p" |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "names": [ |
| "joint1", |
| "joint2", |
| "joint3", |
| "joint4", |
| "joint5", |
| "joint6", |
| "rh_r1_joint", |
| "joint1", |
| "joint2", |
| "joint3", |
| "joint4", |
| "joint5", |
| "joint6", |
| "rh_r1_joint" |
| ], |
| "shape": [ |
| 14 |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "names": [ |
| "joint1", |
| "joint2", |
| "joint3", |
| "joint4", |
| "joint5", |
| "joint6", |
| "rh_r1_joint", |
| "joint1", |
| "joint2", |
| "joint3", |
| "joint4", |
| "joint5", |
| "joint6", |
| "rh_r1_joint" |
| ], |
| "shape": [ |
| 14 |
| ] |
| } |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
