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README.md
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| 1 |
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---
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| 2 |
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license: apache-2.0
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| 3 |
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task_categories:
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| 4 |
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- robotics
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tags:
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- LeRobot
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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| 10 |
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---
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| 11 |
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| 12 |
+
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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| 13 |
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| 14 |
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| 15 |
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<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=RobotSo101/eval_record_9">
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| 16 |
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<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
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| 17 |
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<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
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</a>
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| 19 |
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| 20 |
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## Dataset Description
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| 22 |
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| 23 |
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| 24 |
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- **Homepage:** [More Information Needed]
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| 26 |
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- **Paper:** [More Information Needed]
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| 27 |
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- **License:** apache-2.0
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| 28 |
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## Dataset Structure
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| 30 |
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[meta/info.json](meta/info.json):
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| 32 |
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```json
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{
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"codebase_version": "v3.0",
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"fps": 30,
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| 36 |
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"features": {
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| 37 |
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"action": {
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"dtype": "float32",
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| 39 |
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"shape": [
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| 40 |
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9
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| 41 |
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],
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| 42 |
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"names": [
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| 43 |
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"arm_shoulder_pan.pos",
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| 44 |
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"arm_shoulder_lift.pos",
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| 45 |
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"arm_elbow_flex.pos",
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| 46 |
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"arm_wrist_flex.pos",
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| 47 |
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"arm_wrist_roll.pos",
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| 48 |
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"arm_gripper.pos",
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| 49 |
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"x.vel",
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| 50 |
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"y.vel",
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| 51 |
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"theta.vel"
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| 52 |
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]
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| 53 |
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},
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| 54 |
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"observation.state": {
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| 55 |
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"dtype": "float32",
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| 56 |
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"shape": [
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| 57 |
+
9
|
| 58 |
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],
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| 59 |
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"names": [
|
| 60 |
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"arm_shoulder_pan.pos",
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| 61 |
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"arm_shoulder_lift.pos",
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| 62 |
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"arm_elbow_flex.pos",
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| 63 |
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"arm_wrist_flex.pos",
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| 64 |
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"arm_wrist_roll.pos",
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| 65 |
+
"arm_gripper.pos",
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| 66 |
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"x.vel",
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| 67 |
+
"y.vel",
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| 68 |
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"theta.vel"
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| 69 |
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]
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| 70 |
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},
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| 71 |
+
"observation.images.front": {
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| 72 |
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"dtype": "video",
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| 73 |
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"shape": [
|
| 74 |
+
480,
|
| 75 |
+
640,
|
| 76 |
+
3
|
| 77 |
+
],
|
| 78 |
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"names": [
|
| 79 |
+
"height",
|
| 80 |
+
"width",
|
| 81 |
+
"channels"
|
| 82 |
+
]
|
| 83 |
+
},
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| 84 |
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"observation.images.wrist": {
|
| 85 |
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"dtype": "video",
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| 86 |
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"shape": [
|
| 87 |
+
480,
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| 88 |
+
640,
|
| 89 |
+
3
|
| 90 |
+
],
|
| 91 |
+
"names": [
|
| 92 |
+
"height",
|
| 93 |
+
"width",
|
| 94 |
+
"channels"
|
| 95 |
+
]
|
| 96 |
+
},
|
| 97 |
+
"timestamp": {
|
| 98 |
+
"dtype": "float32",
|
| 99 |
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"shape": [
|
| 100 |
+
1
|
| 101 |
+
],
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| 102 |
+
"names": null
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| 103 |
+
},
|
| 104 |
+
"frame_index": {
|
| 105 |
+
"dtype": "int64",
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| 106 |
+
"shape": [
|
| 107 |
+
1
|
| 108 |
+
],
|
| 109 |
+
"names": null
|
| 110 |
+
},
|
| 111 |
+
"episode_index": {
|
| 112 |
+
"dtype": "int64",
|
| 113 |
+
"shape": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"names": null
|
| 117 |
+
},
|
| 118 |
+
"index": {
|
| 119 |
+
"dtype": "int64",
|
| 120 |
+
"shape": [
|
| 121 |
+
1
|
| 122 |
+
],
|
| 123 |
+
"names": null
|
| 124 |
+
},
|
| 125 |
+
"task_index": {
|
| 126 |
+
"dtype": "int64",
|
| 127 |
+
"shape": [
|
| 128 |
+
1
|
| 129 |
+
],
|
| 130 |
+
"names": null
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| 131 |
+
}
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| 132 |
+
},
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| 133 |
+
"total_episodes": 0,
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| 134 |
+
"total_frames": 0,
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| 135 |
+
"total_tasks": 0,
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| 136 |
+
"chunks_size": 1000,
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| 137 |
+
"data_files_size_in_mb": 100,
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| 138 |
+
"video_files_size_in_mb": 200,
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| 139 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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| 140 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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| 141 |
+
"robot_type": "lekiwi_client",
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| 142 |
+
"splits": {}
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| 143 |
+
}
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| 144 |
+
```
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| 145 |
+
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| 146 |
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| 147 |
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## Citation
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| 148 |
+
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| 149 |
+
**BibTeX:**
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| 150 |
+
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| 151 |
+
```bibtex
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| 152 |
+
[More Information Needed]
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| 153 |
+
```
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