diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..7e2018f6dc985f3dff1bc50b4f98482b8bfc197a --- /dev/null +++ b/README.md @@ -0,0 +1,236 @@ +--- +license: apache-2.0 +task_categories: +- robotics +tags: +- LeRobot +configs: +- config_name: default + data_files: data/*/*.parquet +--- + +# Merged LeRobot Dataset + +This dataset was created by merging multiple LeRobot datasets using the [LeRobot Data Studio](https://github.com/jackvial/assembler0/packages/lerobot-data-studio) merge tool. + +## Source Datasets + +This merged dataset combines the following 2 datasets: + +- [BobShan/double_insert_oringal](https://huggingface.co/datasets/BobShan/double_insert_oringal) +- [BobShan/insert_double_bu](https://huggingface.co/datasets/BobShan/insert_double_bu) + +## Merge Details + +- **Merge Date**: Generated automatically +- **Source Count**: 2 datasets +- **Episode Renumbering**: Episodes are renumbered sequentially starting from 0 + +## 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": "v2.1", + "robot_type": "FRarm", + "total_episodes": 73, + "total_frames": 25710, + "total_tasks": 1, + "total_videos": 0, + "total_chunks": 0, + "chunks_size": 1000, + "fps": 10, + "splits": { + "train": "0:73" + }, + "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": [ + 14 + ], + "names": [ + "left_shoulder_pan", + "left_shoulder_lift", + "left_elbow_flex", + "left_wrist_1", + "left_wrist_2", + "left_wrist_3", + "left_gripper", + "right_shoulder_pan", + "right_shoulder_lift", + "right_elbow_flex", + "right_wrist_1", + "right_wrist_2", + "right_wrist_3", + "right_gripper" + ] + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 14 + ], + "names": [ + "left_shoulder_pan", + "left_shoulder_lift", + "left_elbow_flex", + "left_wrist_1", + "left_wrist_2", + "left_wrist_3", + "left_gripper", + "right_shoulder_pan", + "right_shoulder_lift", + "right_elbow_flex", + "right_wrist_1", + "right_wrist_2", + "right_wrist_3", + "right_gripper" + ] + }, + "observation.images.top": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 10, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.right_wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 10, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.left_wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 10, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.angle": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 10, + "video.channels": 3, + "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] +``` diff --git a/data/chunk-000/episode_000000.parquet b/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8564290e73003aa740ff5a881c13f5b81b47b129 --- /dev/null +++ b/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:958a7249cdf979ec4609e1d98ba86ada7bf4fe3d012eed7243ffdb60793d721a +size 54816 diff --git a/data/chunk-000/episode_000001.parquet b/data/chunk-000/episode_000001.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9f17c2e8358531805807bf8cc48a63ee554cb318 --- /dev/null +++ b/data/chunk-000/episode_000001.parquet @@ -0,0 +1,3 @@ +version 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