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  1. README.md +12 -0
  2. kuavo4pro_2arm_sorting/README.md +270 -0
  3. kuavo4pro_2arm_sorting/data/chunk-000/episode_000000.parquet +3 -0
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README.md ADDED
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+ # Embodied Research Dataset V1
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+
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+ ## Get started
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+
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+ ```shell
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+ # 安装 git-lfs (https://git-lfs.com)
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+ git lfs install
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+
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+ # 生成访问 token: https://huggingface.co/settings/tokens
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+ # 下载数据
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+ git clone https://huggingface.co/datasets/LejuRobotics/Kuavo_em_dataset_v1
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+ ```
kuavo4pro_2arm_sorting/README.md ADDED
@@ -0,0 +1,270 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
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+ license: apache-2.0
3
+ task_categories:
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+ - robotics
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+ tags:
6
+ - Lejurobot
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+ configs:
8
+ - config_name: default
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+ data_files: data/*/*.parquet
10
+ ---
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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+ - **Homepage:** [https://www.lejurobot.com/](https://www.lejurobot.com/)
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+ <!-- - **Paper:** [More Information Needed] -->
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+ - **License:** apache-2.0
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+
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+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
23
+
24
+ ```json
25
+ {
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+ "codebase_version": "v2.0",
27
+ "robot_type": "kuavo4pro",
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+ "total_episodes": 56,
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+ "total_frames": 30387,
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+ "total_tasks": 1,
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+ "total_videos": 224,
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+ "total_chunks": 1,
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+ "chunks_size": 1000,
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+ "fps": 30,
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+ "splits": {
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+ "train": "0:56"
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+ },
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+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
39
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
40
+ "features": {
41
+ "observation.state": {
42
+ "dtype": "float32",
43
+ "shape": [
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+ 40
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+ ],
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+ "names": {
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+ "motors": [
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+ "l_leg_roll",
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+ "l_leg_yaw",
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+ "l_leg_pitch",
51
+ "l_knee",
52
+ "l_foot_pitch",
53
+ "l_foot_roll",
54
+ "r_leg_roll",
55
+ "r_leg_yaw",
56
+ "r_leg_pitch",
57
+ "r_knee",
58
+ "r_foot_pitch",
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+ "r_foot_roll",
60
+ "zarm_l1_link",
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+ "zarm_l2_link",
62
+ "zarm_l3_link",
63
+ "zarm_l4_link",
64
+ "zarm_l5_link",
65
+ "zarm_l6_link",
66
+ "zarm_l7_link",
67
+ "left_qiangnao_1",
68
+ "left_qiangnao_2",
69
+ "left_qiangnao_3",
70
+ "left_qiangnao_4",
71
+ "left_qiangnao_5",
72
+ "left_qiangnao_6",
73
+ "zarm_r1_link",
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+ "zarm_r2_link",
75
+ "zarm_r3_link",
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+ "zarm_r4_link",
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+ "zarm_r5_link",
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+ "zarm_r6_link",
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+ "zarm_r7_link",
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+ "right_qiangnao_1",
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+ "right_qiangnao_2",
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+ "right_qiangnao_3",
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+ "right_qiangnao_4",
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+ "right_qiangnao_5",
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+ "right_qiangnao_6",
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+ "head_yaw",
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+ "head_pitch"
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+ ]
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+ }
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+ },
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+ "action": {
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+ "shape": [
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+ ],
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+ "l_leg_yaw",
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+ "l_leg_pitch",
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+ "l_knee",
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+ "l_foot_pitch",
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+ "l_foot_roll",
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+ "r_leg_roll",
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+ "r_leg_yaw",
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+ "r_leg_pitch",
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+ "r_knee",
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+ "r_foot_pitch",
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+ "r_foot_roll",
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+ "zarm_l1_link",
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+ "zarm_l2_link",
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+ "zarm_l3_link",
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+ "zarm_l4_link",
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+ "zarm_l5_link",
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+ "zarm_l6_link",
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+ "zarm_l7_link",
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+ "left_qiangnao_1",
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+ "left_qiangnao_2",
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+ "left_qiangnao_3",
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+ "left_qiangnao_4",
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+ "left_qiangnao_5",
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+ "left_qiangnao_6",
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+ "zarm_r1_link",
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+ "zarm_r2_link",
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+ "zarm_r3_link",
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+ "zarm_r4_link",
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+ "zarm_r5_link",
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+ "zarm_r6_link",
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+ "zarm_r7_link",
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+ "right_qiangnao_1",
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+ "right_qiangnao_2",
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+ "right_qiangnao_3",
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+ "right_qiangnao_4",
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+ "right_qiangnao_5",
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+ "right_qiangnao_6",
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+ "head_yaw",
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+ "head_pitch"
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+ ]
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+ }
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+ },
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+ "observation.images.wrist_cam_l": {
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+ 640
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+ ],
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+ "video.width": 640,
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+ "video.channels": 3,
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+ "video.codec": "h264",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.wrist_cam_r": {
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+ "dtype": "video",
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+ 3,
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+ 480,
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+ 640
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+ ],
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+ ],
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+ "info": {
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ }
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+ },
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+ ],
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+ "video.is_depth_map": false,
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+ }
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ },
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+ "frame_index": {
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+ ],
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+ }
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+ }
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+ }
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+ ```
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