diff --git a/README.md b/README.md index 7b95401dc46245ac339fc25059d4a56d90b4cde5..1b783dfdfb7d0e3b8b28f036a57695767dc5dc61 100644 --- a/README.md +++ b/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": 60, + "total_frames": 31577, + "total_tasks": 1, + "total_videos": 120, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30, + "splits": { + "train": "0:59" + }, + "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 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