Lr_2002
commited on
Commit
·
bb8d292
1
Parent(s):
596cfc0
Upload DataArm dual arm robot dataset - LeRobot v3.0 compatible dataset
Browse files- README.md +30 -0
- episodes.json +32 -0
- meta/dataset_card.json +24 -0
- meta/info.json +53 -0
- meta/tasks.parquet +3 -0
- train/train.parquet +3 -0
README.md
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
---
|
| 2 |
+
license: apache-2.0
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- robotics
|
| 7 |
+
- dataset
|
| 8 |
+
- manipulation
|
| 9 |
+
- DataArm
|
| 10 |
+
---
|
| 11 |
+
|
| 12 |
+
# DataArm Dataset
|
| 13 |
+
|
| 14 |
+
Dataset created with DataArm robot system for LeRobot v3.0 compatibility.
|
| 15 |
+
|
| 16 |
+
## Dataset Description
|
| 17 |
+
Demo test dataset
|
| 18 |
+
|
| 19 |
+
## Dataset Structure
|
| 20 |
+
- episodes.json: Episode information
|
| 21 |
+
- train/: Training data in Parquet format
|
| 22 |
+
- meta/: Metadata and dataset card
|
| 23 |
+
- images/: Camera frames (if available)
|
| 24 |
+
|
| 25 |
+
## Features
|
| 26 |
+
- observation.gripper_state: float32 [2] (observation)
|
| 27 |
+
- action: float32 [18] (action)
|
| 28 |
+
- observation.state: float32 [16] (observation)
|
| 29 |
+
- observation.state_vel: float32 [16] (observation)
|
| 30 |
+
- observation.state_torque: float32 [16] (observation)
|
episodes.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": [
|
| 3 |
+
0
|
| 4 |
+
],
|
| 5 |
+
"length": [
|
| 6 |
+
29
|
| 7 |
+
],
|
| 8 |
+
"task": [
|
| 9 |
+
"Demo test dataset"
|
| 10 |
+
],
|
| 11 |
+
"from_task": [
|
| 12 |
+
0
|
| 13 |
+
],
|
| 14 |
+
"from_episode": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"timestamp": [
|
| 18 |
+
0.0
|
| 19 |
+
],
|
| 20 |
+
"frame_index": [
|
| 21 |
+
0
|
| 22 |
+
],
|
| 23 |
+
"annotation": [
|
| 24 |
+
""
|
| 25 |
+
],
|
| 26 |
+
"seed": [
|
| 27 |
+
42
|
| 28 |
+
],
|
| 29 |
+
"num_frames": [
|
| 30 |
+
29
|
| 31 |
+
]
|
| 32 |
+
}
|
meta/dataset_card.json
ADDED
|
@@ -0,0 +1,24 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"license": "apache-2.0",
|
| 3 |
+
"domain": "robotics",
|
| 4 |
+
"frame_rate": 30,
|
| 5 |
+
"fps": 30,
|
| 6 |
+
"language": [
|
| 7 |
+
"en"
|
| 8 |
+
],
|
| 9 |
+
"tags": [
|
| 10 |
+
"DataArm",
|
| 11 |
+
"robot",
|
| 12 |
+
"manipulation",
|
| 13 |
+
"dual-arm"
|
| 14 |
+
],
|
| 15 |
+
"description": "DataArm dataset created from recorded session: Demo test dataset",
|
| 16 |
+
"summary": "Dataset created using DataArm robot system with LeRobot v3.0 compatibility",
|
| 17 |
+
"points": 10.0,
|
| 18 |
+
"config": {
|
| 19 |
+
"sim": false,
|
| 20 |
+
"robot": "DataArm",
|
| 21 |
+
"arm": "dual",
|
| 22 |
+
"camera": "multi"
|
| 23 |
+
}
|
| 24 |
+
}
|
meta/info.json
ADDED
|
@@ -0,0 +1,53 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"total_episodes": 1,
|
| 3 |
+
"total_frames": 29,
|
| 4 |
+
"fps": 30,
|
| 5 |
+
"features": {
|
| 6 |
+
"observation.gripper_state": {
|
| 7 |
+
"dtype": "float32",
|
| 8 |
+
"shape": [
|
| 9 |
+
2
|
| 10 |
+
],
|
| 11 |
+
"type": "observation",
|
| 12 |
+
"min": 1164.5352783203125,
|
| 13 |
+
"max": 1699.90478515625
|
| 14 |
+
},
|
| 15 |
+
"action": {
|
| 16 |
+
"dtype": "float32",
|
| 17 |
+
"shape": [
|
| 18 |
+
18
|
| 19 |
+
],
|
| 20 |
+
"type": "action",
|
| 21 |
+
"min": -0.10957235842943192,
|
| 22 |
+
"max": 1699.90478515625
|
| 23 |
+
},
|
| 24 |
+
"observation.state": {
|
| 25 |
+
"dtype": "float32",
|
| 26 |
+
"shape": [
|
| 27 |
+
16
|
| 28 |
+
],
|
| 29 |
+
"type": "observation",
|
| 30 |
+
"min": -0.10957235842943192,
|
| 31 |
+
"max": 0.1999991536140442
|
| 32 |
+
},
|
| 33 |
+
"observation.state_vel": {
|
| 34 |
+
"dtype": "float32",
|
| 35 |
+
"shape": [
|
| 36 |
+
16
|
| 37 |
+
],
|
| 38 |
+
"type": "observation",
|
| 39 |
+
"min": -0.009999915026128292,
|
| 40 |
+
"max": 0.009999999776482582
|
| 41 |
+
},
|
| 42 |
+
"observation.state_torque": {
|
| 43 |
+
"dtype": "float32",
|
| 44 |
+
"shape": [
|
| 45 |
+
16
|
| 46 |
+
],
|
| 47 |
+
"type": "observation",
|
| 48 |
+
"min": 0.3904276490211487,
|
| 49 |
+
"max": 0.5999991297721863
|
| 50 |
+
}
|
| 51 |
+
},
|
| 52 |
+
"codebase_version": "v3.0"
|
| 53 |
+
}
|
meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8781f1db7b7d7ea1f5cb07b3b10529bed7e1d021617e7070d9a77fee42e67ddd
|
| 3 |
+
size 1236
|
train/train.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e553fa595b55a6e8ef2f317ef8d1b02bc839e6e89b9d6addc5f406297054154f
|
| 3 |
+
size 53657
|