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README.md

@@ -1,3 +1,148 @@
 ---
 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) format.
+
+## Dataset Structure
+```json
+{
+    "codebase_version": "v2.1",
+    "robot_type": "ur5e",
+    "total_episodes": 6,
+    "total_frames": 3270,
+    "total_tasks": 1,
+    "total_videos": 12,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+       "test": "0:5" 
+     },
+    "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": {
+      "observation.images.scene_image": {
+        "dtype": "video",
+        "shape": [
+          480,
+          640,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channel"
+        ],
+        "info": {
+          "video.fps": 30.0,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "has_audio": false
+        }
+      },
+      "observation.images.wrist_image": {
+        "dtype": "video",
+        "shape": [
+          480,
+          640,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channel"
+        ],
+        "info": {
+          "video.fps": 30.0,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "has_audio": false
+        }
+      },
+             "observation.state": {
+         "dtype": "float32",
+         "shape": [
+           7
+         ],
+         "names": [
+             "x",
+             "y",
+             "z",
+             "rx",
+             "ry",
+             "rz",
+             "scanner_state"  
+           ]
+       },
+       "action": {
+         "dtype": "float32",
+         "shape": [
+           7
+         ],
+         "names": [
+             "x",
+             "y",
+             "z",
+             "rx",
+             "ry",
+             "rz",
+             "scanner_state"  
+           ]
+       },
+      "timestamp": {
+      "dtype": "float32",
+      "shape": [
+          1
+        ],
+        "names": null
+      },
+      "episode_index": {
+        "dtype": "int64",
+        "shape": [
+          1
+        ],
+        "names": null
+      },
+      "frame_index": {
+        "dtype": "int64",
+        "shape": [
+          1
+        ],
+        "names": null
+      },
+  
+      "next.done": {
+              "dtype": "bool",
+              "shape": [
+                  1
+              ],
+              "names": null
+          },
+      "index": {
+        "dtype": "int64",
+        "shape": [
+          1
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+        "names": null
+      },
+      "task_index": {
+        "dtype": "int64",
+        "shape": [
+          1
+        ],
+        "names": null
+      }
+    }
+  }
+``` 

data/chunk-000/episode_000000.parquet

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data/chunk-000/episode_000001.parquet

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data/chunk-000/episode_000002.parquet

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data/chunk-000/episode_000005.parquet

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meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Scan the top surface of the flat plate"], "length": 525}
+{"episode_index": 1, "tasks": ["Scan the top surface of the flat plate"], "length": 524}
+{"episode_index": 2, "tasks": ["Scan the top surface of the flat plate"], "length": 599}
+{"episode_index": 3, "tasks": ["Scan the top surface of the flat plate"], "length": 600}
+{"episode_index": 4, "tasks": ["Scan the top surface of the flat plate"], "length": 544}
+{"episode_index": 5, "tasks": ["Scan the top surface of the flat plate"], "length": 478}

meta/episodes_stats.jsonl

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