diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..8a0260ff338dad4d63ae1aeb70bb53940cd88313 --- /dev/null +++ b/README.md @@ -0,0 +1,222 @@ +--- +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": "v2.1", + "trossen_subversion": "v1.0", + "robot_type": "trossen_ai_stationary", + "total_episodes": 76, + "total_frames": 33966, + "total_tasks": 2, + "total_videos": 304, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30, + "splits": { + "train": "0:76" + }, + "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": { + "action": { + "dtype": "float32", + "shape": [ + 32 + ], + "names": [ + "left_joint_0", + "left_joint_1", + "left_joint_2", + "left_joint_3", + "left_joint_4", + "left_joint_5", + "left_joint_6", + "right_joint_0", + "right_joint_1", + "right_joint_2", + "right_joint_3", + "right_joint_4", + "right_joint_5", + "right_joint_6" + ] + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 32 + ], + "names": [ + "left_joint_0", + "left_joint_1", + "left_joint_2", + "left_joint_3", + "left_joint_4", + "left_joint_5", + "left_joint_6", + "right_joint_0", + "right_joint_1", + "right_joint_2", + "right_joint_3", + "right_joint_4", + "right_joint_5", + "right_joint_6" + ] + }, + "observation.images.cam_high": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 30.0, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.cam_low": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 30.0, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.cam_left_wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 30.0, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.cam_right_wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 30.0, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "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] +``` diff --git a/data/chunk-000/episode_000001.parquet b/data/chunk-000/episode_000001.parquet new file mode 100644 index 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