diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..b40ff4eac3e2f13d4b537693fe771cb5aadab6bf --- /dev/null +++ b/README.md @@ -0,0 +1,187 @@ +--- +license: apache-2.0 +task_categories: +- robotics +tags: +- LeRobot +- so101 +- 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": "v2.1", + "robot_type": "so101", + "total_episodes": 30, + "total_frames": 12041, + "total_tasks": 1, + "total_videos": 90, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30, + "splits": { + "train": "0:30" + }, + "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.handeye": { + "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": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.side": { + "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": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.topdown": { + "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": 30, + "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] +``` \ No newline at end of file diff --git a/data/chunk-000/episode_000000.parquet b/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..41c5a6f3e35d326a7640afe3eeaeaf27803e5f07 --- /dev/null +++ b/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd7343108985df6eae16ce9bd87cfe00561d7f0a4de5496b820e3a20dbfe8fd9 +size 23202 diff --git a/data/chunk-000/episode_000001.parquet b/data/chunk-000/episode_000001.parquet new file mode 100644 index 0000000000000000000000000000000000000000..34bb4e50360227582a887dd5f55a7d4edfde3339 --- /dev/null +++ b/data/chunk-000/episode_000001.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:585cd9c8d4e3567dba3235e48e115b813eeb4481b962cb3cf53fde0d72246d7e +size 17515 diff --git a/data/chunk-000/episode_000002.parquet 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