| | ---
|
| | license: apache-2.0
|
| | task_categories:
|
| | - robotics
|
| | tags:
|
| | - LeRobot
|
| | 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": "v3.0",
|
| | "robot_type": "lekiwi_client",
|
| | "total_episodes": 70,
|
| | "total_frames": 83980,
|
| | "total_tasks": 1,
|
| | "chunks_size": 1000,
|
| | "data_files_size_in_mb": 100,
|
| | "video_files_size_in_mb": 500,
|
| | "fps": 30,
|
| | "splits": {
|
| | "train": "0:70"
|
| | },
|
| | "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| | "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| | "features": {
|
| | "action": {
|
| | "dtype": "float32",
|
| | "shape": [
|
| | 9
|
| | ],
|
| | "names": [
|
| | "arm_shoulder_pan.pos",
|
| | "arm_shoulder_lift.pos",
|
| | "arm_elbow_flex.pos",
|
| | "arm_wrist_flex.pos",
|
| | "arm_wrist_roll.pos",
|
| | "arm_gripper.pos",
|
| | "x.vel",
|
| | "y.vel",
|
| | "theta.vel"
|
| | ]
|
| | },
|
| | "observation.state": {
|
| | "dtype": "float32",
|
| | "shape": [
|
| | 9
|
| | ],
|
| | "names": [
|
| | "arm_shoulder_pan.pos",
|
| | "arm_shoulder_lift.pos",
|
| | "arm_elbow_flex.pos",
|
| | "arm_wrist_flex.pos",
|
| | "arm_wrist_roll.pos",
|
| | "arm_gripper.pos",
|
| | "x.vel",
|
| | "y.vel",
|
| | "theta.vel"
|
| | ]
|
| | },
|
| | "observation.images.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": 30,
|
| | "video.channels": 3,
|
| | "has_audio": false
|
| | }
|
| | },
|
| | "observation.images.front": {
|
| | "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]
|
| | ``` |
