Upload LeRobot v3.0 compatible dataset
Browse files- data/chunk-000/file_000.parquet +3 -0
- data/chunk-000/file_000.parquet.json +0 -0
- meta/episodes.jsonl +1 -0
- meta/info.json +800 -0
- meta/stats.json +996 -0
- meta/tasks.jsonl +1 -0
data/chunk-000/file_000.parquet
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:be51121de3d8e53a1fd6591d57ccd9ff49369ef2e68dcebc143cb73d9dce1c1a
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size 94156
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data/chunk-000/file_000.parquet.json
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The diff for this file is too large to render.
See raw diff
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meta/episodes.jsonl
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@@ -0,0 +1 @@
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{"episode_index": 0, "tasks": [0], "length": 99}
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meta/info.json
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@@ -0,0 +1,800 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "dual_arm_robot",
|
| 4 |
+
"fps": 10.0,
|
| 5 |
+
"video": false,
|
| 6 |
+
"encoding": null,
|
| 7 |
+
"dataset_type": "single_file",
|
| 8 |
+
"data_path": "data/chunk-{chunk:03d}/file_{file_index:03d}.parquet",
|
| 9 |
+
"splits": {
|
| 10 |
+
"train": "0:99"
|
| 11 |
+
},
|
| 12 |
+
"keys": [
|
| 13 |
+
"observation.arm1_shoulder_lift_joint.position",
|
| 14 |
+
"observation.arm1_shoulder_lift_joint.velocity",
|
| 15 |
+
"observation.arm1_shoulder_lift_joint.effort",
|
| 16 |
+
"observation.arm1_elbow_joint.position",
|
| 17 |
+
"observation.arm1_elbow_joint.velocity",
|
| 18 |
+
"observation.arm1_elbow_joint.effort",
|
| 19 |
+
"observation.arm1_wrist_1_joint.position",
|
| 20 |
+
"observation.arm1_wrist_1_joint.velocity",
|
| 21 |
+
"observation.arm1_wrist_1_joint.effort",
|
| 22 |
+
"observation.arm1_wrist_2_joint.position",
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"names": null
|
| 707 |
+
},
|
| 708 |
+
"observation.arm1_3f_palm_finger_c_joint.effort": {
|
| 709 |
+
"dtype": "float32",
|
| 710 |
+
"shape": [],
|
| 711 |
+
"names": null
|
| 712 |
+
},
|
| 713 |
+
"observation.arm1_3f_finger_a_joint_2.position": {
|
| 714 |
+
"dtype": "float32",
|
| 715 |
+
"shape": [],
|
| 716 |
+
"names": null
|
| 717 |
+
},
|
| 718 |
+
"observation.arm1_3f_finger_a_joint_2.velocity": {
|
| 719 |
+
"dtype": "float32",
|
| 720 |
+
"shape": [],
|
| 721 |
+
"names": null
|
| 722 |
+
},
|
| 723 |
+
"observation.arm1_3f_finger_a_joint_2.effort": {
|
| 724 |
+
"dtype": "float32",
|
| 725 |
+
"shape": [],
|
| 726 |
+
"names": null
|
| 727 |
+
},
|
| 728 |
+
"observation.arm2_wrist_1_joint.position": {
|
| 729 |
+
"dtype": "float32",
|
| 730 |
+
"shape": [],
|
| 731 |
+
"names": null
|
| 732 |
+
},
|
| 733 |
+
"observation.arm2_wrist_1_joint.velocity": {
|
| 734 |
+
"dtype": "float32",
|
| 735 |
+
"shape": [],
|
| 736 |
+
"names": null
|
| 737 |
+
},
|
| 738 |
+
"observation.arm2_wrist_1_joint.effort": {
|
| 739 |
+
"dtype": "float32",
|
| 740 |
+
"shape": [],
|
| 741 |
+
"names": null
|
| 742 |
+
},
|
| 743 |
+
"observation.state": {
|
| 744 |
+
"dtype": "float32",
|
| 745 |
+
"shape": [
|
| 746 |
+
34
|
| 747 |
+
],
|
| 748 |
+
"names": null
|
| 749 |
+
},
|
| 750 |
+
"action": {
|
| 751 |
+
"dtype": "float32",
|
| 752 |
+
"shape": [
|
| 753 |
+
34
|
| 754 |
+
],
|
| 755 |
+
"names": null
|
| 756 |
+
},
|
| 757 |
+
"observation.clock.clock": {
|
| 758 |
+
"dtype": "float32",
|
| 759 |
+
"shape": [],
|
| 760 |
+
"names": null
|
| 761 |
+
}
|
| 762 |
+
},
|
| 763 |
+
"n_joints": 34,
|
| 764 |
+
"joint_names": [
|
| 765 |
+
"arm1_shoulder_lift_joint",
|
| 766 |
+
"arm1_elbow_joint",
|
| 767 |
+
"arm1_wrist_1_joint",
|
| 768 |
+
"arm1_wrist_2_joint",
|
| 769 |
+
"arm2_wrist_3_joint",
|
| 770 |
+
"arm1_wrist_3_joint",
|
| 771 |
+
"arm2_3f_finger_b_joint_3",
|
| 772 |
+
"arm1_3f_finger_c_joint_3",
|
| 773 |
+
"arm2_3f_palm_finger_b_joint",
|
| 774 |
+
"arm2_3f_finger_c_joint_3",
|
| 775 |
+
"arm2_3f_palm_finger_c_joint",
|
| 776 |
+
"arm1_3f_finger_c_joint_2",
|
| 777 |
+
"arm2_3f_finger_a_joint_3",
|
| 778 |
+
"arm2_3f_finger_c_joint_2",
|
| 779 |
+
"arm1_3f_finger_b_joint_2",
|
| 780 |
+
"arm2_3f_finger_c_joint_1",
|
| 781 |
+
"arm2_wrist_2_joint",
|
| 782 |
+
"arm1_shoulder_pan_joint",
|
| 783 |
+
"arm1_3f_finger_c_joint_1",
|
| 784 |
+
"arm2_3f_finger_b_joint_1",
|
| 785 |
+
"arm2_shoulder_pan_joint",
|
| 786 |
+
"arm1_3f_finger_b_joint_3",
|
| 787 |
+
"arm1_3f_finger_b_joint_1",
|
| 788 |
+
"arm2_3f_finger_a_joint_2",
|
| 789 |
+
"arm1_3f_palm_finger_b_joint",
|
| 790 |
+
"arm1_3f_finger_a_joint_3",
|
| 791 |
+
"arm2_elbow_joint",
|
| 792 |
+
"arm1_3f_finger_a_joint_1",
|
| 793 |
+
"arm2_shoulder_lift_joint",
|
| 794 |
+
"arm2_3f_finger_b_joint_2",
|
| 795 |
+
"arm2_3f_finger_a_joint_1",
|
| 796 |
+
"arm1_3f_palm_finger_c_joint",
|
| 797 |
+
"arm1_3f_finger_a_joint_2",
|
| 798 |
+
"arm2_wrist_1_joint"
|
| 799 |
+
]
|
| 800 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,996 @@
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| 995 |
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| 996 |
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}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"0": {"task_index": 0, "task": "Dual arm robot manipulation task"}}
|