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mkkimuser
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0402data

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Robotics
Modalities:
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Video
Formats:
parquet
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Tags:
robotis
LeRobot
FFW_SG2
Libraries:
Datasets
Dask
Polars
License:
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  1. README.md +242 -0
  2. meta/episodes.jsonl +500 -0
  3. meta/episodes_stats.jsonl +0 -0
  4. meta/info.json +206 -0
  5. meta/tasks.jsonl +1 -0
  6. videos/chunk-000/observation.images.cam_wrist_left/episode_000020.mp4 +3 -0
  7. videos/chunk-000/observation.images.cam_wrist_left/episode_000021.mp4 +3 -0
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README.md ADDED
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1
+ ---
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+ license: apache-2.0
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+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - robotis
7
+ - LeRobot
8
+ - FFW_SG2
9
+ configs:
10
+ - config_name: default
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+ data_files: data/*/*.parquet
12
+ ---
13
+
14
+ This dataset was created using [Physical AI Tools](https://github.com/ROBOTIS-GIT/physical_ai_tools) and [LeRobot](https://github.com/huggingface/lerobot).
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+
16
+ ## Dataset Description
17
+
18
+
19
+
20
+ - **Homepage:** [More Information Needed]
21
+ - **License:** apache-2.0
22
+
23
+ ## Dataset Structure
24
+
25
+ [meta/info.json](meta/info.json):
26
+ ```json
27
+ {
28
+ "codebase_version": "v2.1",
29
+ "robot_type": "FFW_SG2",
30
+ "total_episodes": 500,
31
+ "total_frames": 82092,
32
+ "total_tasks": 1,
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+ "total_videos": 1500,
34
+ "total_chunks": 1,
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+ "chunks_size": 1000,
36
+ "fps": 10,
37
+ "splits": {
38
+ "train": "0:500"
39
+ },
40
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
41
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
42
+ "features": {
43
+ "action": {
44
+ "dtype": "float32",
45
+ "shape": [
46
+ 19
47
+ ],
48
+ "names": [
49
+ "arm_l_joint1",
50
+ "arm_l_joint2",
51
+ "arm_l_joint3",
52
+ "arm_l_joint4",
53
+ "arm_l_joint5",
54
+ "arm_l_joint6",
55
+ "arm_l_joint7",
56
+ "gripper_l_joint1",
57
+ "arm_r_joint1",
58
+ "arm_r_joint2",
59
+ "arm_r_joint3",
60
+ "arm_r_joint4",
61
+ "arm_r_joint5",
62
+ "arm_r_joint6",
63
+ "arm_r_joint7",
64
+ "gripper_r_joint1",
65
+ "head_joint1",
66
+ "head_joint2",
67
+ "lift_joint"
68
+ ]
69
+ },
70
+ "observation.state": {
71
+ "dtype": "float32",
72
+ "shape": [
73
+ 19
74
+ ],
75
+ "names": [
76
+ "arm_l_joint1",
77
+ "arm_l_joint2",
78
+ "arm_l_joint3",
79
+ "arm_l_joint4",
80
+ "arm_l_joint5",
81
+ "arm_l_joint6",
82
+ "arm_l_joint7",
83
+ "gripper_l_joint1",
84
+ "arm_r_joint1",
85
+ "arm_r_joint2",
86
+ "arm_r_joint3",
87
+ "arm_r_joint4",
88
+ "arm_r_joint5",
89
+ "arm_r_joint6",
90
+ "arm_r_joint7",
91
+ "gripper_r_joint1",
92
+ "head_joint1",
93
+ "head_joint2",
94
+ "lift_joint"
95
+ ]
96
+ },
97
+ "observation.images.cam_head": {
98
+ "dtype": "video",
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+ "shape": [
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+ 376,
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+ 672,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "video_info": {
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+ "video.height": 376,
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+ "video.width": 672,
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+ "video.codec": "libx264",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 10,
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+ "video.channels": 3,
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+ "has_audio": false
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+ },
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+ "info": {
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+ "video.height": 376,
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+ "video.width": 672,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 10,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.cam_wrist_left": {
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+ "dtype": "video",
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+ "shape": [
133
+ 240,
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+ 424,
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+ 3
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+ ],
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+ "names": [
138
+ "height",
139
+ "width",
140
+ "channels"
141
+ ],
142
+ "video_info": {
143
+ "video.height": 240,
144
+ "video.width": 424,
145
+ "video.codec": "libx264",
146
+ "video.pix_fmt": "yuv420p",
147
+ "video.is_depth_map": false,
148
+ "video.fps": 10,
149
+ "video.channels": 3,
150
+ "has_audio": false
151
+ },
152
+ "info": {
153
+ "video.height": 240,
154
+ "video.width": 424,
155
+ "video.codec": "av1",
156
+ "video.pix_fmt": "yuv420p",
157
+ "video.is_depth_map": false,
158
+ "video.fps": 10,
159
+ "video.channels": 3,
160
+ "has_audio": false
161
+ }
162
+ },
163
+ "observation.images.cam_wrist_right": {
164
+ "dtype": "video",
165
+ "shape": [
166
+ 240,
167
+ 424,
168
+ 3
169
+ ],
170
+ "names": [
171
+ "height",
172
+ "width",
173
+ "channels"
174
+ ],
175
+ "video_info": {
176
+ "video.height": 240,
177
+ "video.width": 424,
178
+ "video.codec": "libx264",
179
+ "video.pix_fmt": "yuv420p",
180
+ "video.is_depth_map": false,
181
+ "video.fps": 10,
182
+ "video.channels": 3,
183
+ "has_audio": false
184
+ },
185
+ "info": {
186
+ "video.height": 240,
187
+ "video.width": 424,
188
+ "video.codec": "av1",
189
+ "video.pix_fmt": "yuv420p",
190
+ "video.is_depth_map": false,
191
+ "video.fps": 10,
192
+ "video.channels": 3,
193
+ "has_audio": false
194
+ }
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+ },
196
+ "timestamp": {
197
+ "dtype": "float32",
198
+ "shape": [
199
+ 1
200
+ ],
201
+ "names": null
202
+ },
203
+ "frame_index": {
204
+ "dtype": "int64",
205
+ "shape": [
206
+ 1
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+ ],
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+ "names": null
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+ },
210
+ "episode_index": {
211
+ "dtype": "int64",
212
+ "shape": [
213
+ 1
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+ ],
215
+ "names": null
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+ },
217
+ "index": {
218
+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "task_index": {
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+ "dtype": "int64",
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+ "shape": [
227
+ 1
228
+ ],
229
+ "names": null
230
+ }
231
+ }
232
+ }
233
+ ```
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+
235
+
236
+ ## Citation
237
+
238
+ **BibTeX:**
239
+
240
+ ```bibtex
241
+ [More Information Needed]
242
+ ```
meta/episodes.jsonl ADDED
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