diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..a8d4c885d73856cb4ef32296b63a0a6cc924e5e3 --- /dev/null +++ b/README.md @@ -0,0 +1,182 @@ +--- +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", + "robot_type": "koch_screwdriver_follower", + "total_episodes": 103, + "total_frames": 19193, + "total_tasks": 2, + "total_videos": 0, + "total_chunks": 0, + "chunks_size": 1000, + "fps": 30, + "splits": { + "train": "0:103" + }, + "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": [ + 6 + ], + "names": [ + "shoulder_pan.pos", + "shoulder_lift.pos", + "elbow_flex.pos", + "wrist_flex.pos", + "wrist_roll.pos", + "screwdriver.vel" + ] + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 6 + ], + "names": [ + "shoulder_pan.pos", + "shoulder_lift.pos", + "elbow_flex.pos", + "wrist_flex.pos", + "wrist_roll.pos", + "screwdriver.vel" + ] + }, + "observation.images.screwdriver": { + "dtype": "video", + "shape": [ + 600, + 800, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 600, + "video.width": 800, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.side": { + "dtype": "video", + "shape": [ + 600, + 800, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 600, + "video.width": 800, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.top": { + "dtype": "video", + "shape": [ + 600, + 800, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 600, + "video.width": 800, + "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] +``` diff --git a/data/chunk-000/episode_000000.parquet b/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e356aaf06556ceda43ebbd0f9fb86fd6435e3087 --- /dev/null +++ b/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44209c886125bb8f4f034b647c7f70ef6b20d606ff418afe9fdd01239073ec43 +size 11546 diff --git a/data/chunk-000/episode_000001.parquet b/data/chunk-000/episode_000001.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f6a729101b29d8a8269e7811c5ce3131e993dc19 --- /dev/null +++ b/data/chunk-000/episode_000001.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08bad4cae7b2c434f28c1420f3f6714a3d403fa60b71564028ccddf0d62ece70 +size 11349 diff --git a/data/chunk-000/episode_000002.parquet b/data/chunk-000/episode_000002.parquet new file 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Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 1, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 2, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 3, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 164} +{"episode_index": 4, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 162} +{"episode_index": 5, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 6, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 7, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 162} +{"episode_index": 8, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 9, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 10, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 11, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 12, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 13, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 14, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 15, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 164} +{"episode_index": 16, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 164} +{"episode_index": 17, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 18, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 19, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 20, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 21, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 22, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 23, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 24, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 25, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 26, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 27, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 28, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 163} +{"episode_index": 29, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 195} +{"episode_index": 30, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 196} +{"episode_index": 31, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 196} +{"episode_index": 32, "tasks": ["Move towards the silver screw in the orange panel. 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Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 195} +{"episode_index": 36, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 196} +{"episode_index": 37, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 196} +{"episode_index": 38, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 195} +{"episode_index": 39, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 195} +{"episode_index": 40, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 195} +{"episode_index": 41, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 196} +{"episode_index": 42, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 195} +{"episode_index": 43, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 195} +{"episode_index": 44, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 196} +{"episode_index": 45, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 195} +{"episode_index": 46, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 196} +{"episode_index": 47, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 196} +{"episode_index": 48, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 196} +{"episode_index": 49, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 195} +{"episode_index": 50, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 196} +{"episode_index": 51, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 195} +{"episode_index": 52, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 195} +{"episode_index": 53, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 195} +{"episode_index": 54, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 196} +{"episode_index": 55, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 196} +{"episode_index": 56, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 196} +{"episode_index": 57, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 195} +{"episode_index": 58, "tasks": ["Move towards the silver screw in the orange panel. Then place the screwdriver bit on the screw, and turn the screwdriver bit clockwise until the screw is has been fully screwed in."], "length": 195} +{"episode_index": 59, "tasks": ["Move towards the silver screw in the orange panel. 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