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README.md

@@ -0,0 +1,159 @@
+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- robotis
+- LeRobot
+- omy_f3m
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+This dataset was created using [Physical AI Tools](https://github.com/ROBOTIS-GIT/physical_ai_tools) and [LeRobot](https://github.com/huggingface/lerobot).
+
+## Dataset Description
+
+
+
+- **Homepage:** [More Information Needed]
+- **License:** apache-2.0
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v2.1",
+    "robot_type": "omy_f3m",
+    "total_episodes": 49,
+    "total_frames": 30967,
+    "total_tasks": 1,
+    "total_videos": 98,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:49"
+    },
+    "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": {
+        "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
+        },
+        "observation.images.cam_wrist": {
+            "dtype": "video",
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "shape": [
+                270,
+                480,
+                3
+            ],
+            "info": {
+                "video.height": 270,
+                "video.width": 480,
+                "video.channels": 3,
+                "video.codec": "libx264",
+                "video.pix_fmt": "yuv420p"
+            }
+        },
+        "observation.images.cam_top": {
+            "dtype": "video",
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "libx264",
+                "video.pix_fmt": "yuv420p"
+            }
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "names": [
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "rh_r1_joint"
+            ],
+            "shape": [
+                7
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "names": [
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "rh_r1_joint"
+            ],
+            "shape": [
+                7
+            ]
+        }
+    }
+}
+```
+
+
+## Citation
+
+**BibTeX:**
+
+```bibtex
+[More Information Needed]
+```

meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Pick up square, Place in red box."], "length": 665}
+{"episode_index": 1, "tasks": ["Pick up square, Place in red box."], "length": 710}
+{"episode_index": 2, "tasks": ["Pick up square, Place in red box."], "length": 663}
+{"episode_index": 3, "tasks": ["Pick up square, Place in red box."], "length": 659}
+{"episode_index": 4, "tasks": ["Pick up square, Place in red box."], "length": 751}
+{"episode_index": 5, "tasks": ["Pick up square, Place in red box."], "length": 643}
+{"episode_index": 6, "tasks": ["Pick up square, Place in red box."], "length": 670}
+{"episode_index": 7, "tasks": ["Pick up square, Place in red box."], "length": 694}
+{"episode_index": 8, "tasks": ["Pick up square, Place in red box."], "length": 623}
+{"episode_index": 9, "tasks": ["Pick up square, Place in red box."], "length": 624}
+{"episode_index": 10, "tasks": ["Pick up square, Place in red box."], "length": 624}
+{"episode_index": 11, "tasks": ["Pick up square, Place in red box."], "length": 611}
+{"episode_index": 12, "tasks": ["Pick up square, Place in red box."], "length": 624}
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+{"episode_index": 19, "tasks": ["Pick up square, Place in red box."], "length": 617}
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+{"episode_index": 29, "tasks": ["Pick up square, Place in red box."], "length": 645}
+{"episode_index": 30, "tasks": ["Pick up square, Place in red box."], "length": 567}
+{"episode_index": 31, "tasks": ["Pick up square, Place in red box."], "length": 578}
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+{"episode_index": 33, "tasks": ["Pick up square, Place in red box."], "length": 699}
+{"episode_index": 34, "tasks": ["Pick up square, Place in red box."], "length": 627}
+{"episode_index": 35, "tasks": ["Pick up square, Place in red box."], "length": 607}
+{"episode_index": 36, "tasks": ["Pick up square, Place in red box."], "length": 579}
+{"episode_index": 37, "tasks": ["Pick up square, Place in red box."], "length": 647}
+{"episode_index": 38, "tasks": ["Pick up square, Place in red box."], "length": 752}
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+{"episode_index": 46, "tasks": ["Pick up square, Place in red box."], "length": 555}
+{"episode_index": 47, "tasks": ["Pick up square, Place in red box."], "length": 601}
+{"episode_index": 48, "tasks": ["Pick up square, Place in red box."], "length": 600}

meta/info.json

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+{
+    "codebase_version": "v2.1",
+    "robot_type": "omy_f3m",
+    "total_episodes": 49,
+    "total_frames": 30967,
+    "total_tasks": 1,
+    "total_videos": 98,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:49"
+    },
+    "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": {
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "index": {
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+            "shape": [
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+            "names": null
+        },
+        "task_index": {
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+            "shape": [
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+            "names": null
+        },
+        "observation.images.cam_wrist": {
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+                "channels"
+            ],
+            "shape": [
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+                480,
+                3
+            ],
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+                "video.width": 480,
+                "video.channels": 3,
+                "video.codec": "libx264",
+                "video.pix_fmt": "yuv420p"
+            }
+        },
+        "observation.images.cam_top": {
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+        },
+        "observation.state": {
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+            "names": [
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+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "rh_r1_joint"
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+            "shape": [
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+        },
+        "action": {
+            "dtype": "float32",
+            "names": [
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+                "joint2",
+                "joint3",
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+                "joint5",
+                "joint6",
+                "rh_r1_joint"
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+            "shape": [
+                7
+            ]
+        }
+    }
+}

meta/tasks.jsonl

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