| --- |
| task_categories: |
| - robotics |
| configs: |
| - config_name: default |
| data_dir: data |
| tags: |
| - LeRobot |
| - koch |
| --- |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| [meta/info.json](meta/info.json) |
| ```json |
| { |
| "codebase_version": "v2.0", |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
| "robot_type": "koch", |
| "total_episodes": 50, |
| "total_frames": 21267, |
| "total_tasks": 1, |
| "total_videos": 100, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 30, |
| "splits": { |
| "train": "0:50" |
| }, |
| "features": { |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "shoulder_pan", |
| "shoulder_lift", |
| "elbow_flex", |
| "wrist_flex", |
| "wrist_roll", |
| "gripper" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "shoulder_pan", |
| "shoulder_lift", |
| "elbow_flex", |
| "wrist_flex", |
| "wrist_roll", |
| "gripper" |
| ] |
| }, |
| "observation.images.laptop": { |
| "dtype": "video", |
| "shape": [ |
| 640, |
| 480, |
| 3 |
| ], |
| "names": [ |
| "width", |
| "height", |
| "channel" |
| ], |
| "video_path": { |
| "video.fps": 30.0, |
| "video.width": 640, |
| "video.height": 480, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| }, |
| "video_info": { |
| "video.fps": 30.0, |
| "video.width": 640, |
| "video.height": 480, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.phone": { |
| "dtype": "video", |
| "shape": [ |
| 640, |
| 480, |
| 3 |
| ], |
| "names": [ |
| "width", |
| "height", |
| "channel" |
| ], |
| "video_path": { |
| "video.fps": 30.0, |
| "video.width": 640, |
| "video.height": 480, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| }, |
| "video_info": { |
| "video.fps": 30.0, |
| "video.width": 640, |
| "video.height": 480, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "next.done": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| }, |
| "videos": { |
| "videos_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
| "observation.images.laptop": { |
| "video.fps": 30.0, |
| "video.width": 640, |
| "video.height": 480, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| }, |
| "observation.images.phone": { |
| "video.fps": 30.0, |
| "video.width": 640, |
| "video.height": 480, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| } |
| } |
| ``` |
