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README.md

@@ -1,3 +1,151 @@
 ---
 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": 50,
+  "total_frames": 24200,
+  "total_tasks": 2,
+  "total_videos": 100,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:44",
+    "val" : "45:49"
+  },
+  "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": [
+        8
+      ],
+      "names": [
+          "x",
+          "y",
+          "z",
+          "rx",
+          "ry",
+          "rz",
+          "scanner_state",
+          "gripper_state"
+        ]
+    },
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        8
+      ],
+      "names": [
+          "x",
+          "y",
+          "z",
+          "rx",
+          "ry",
+          "rz",
+          "scanner_state",
+          "gripper_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
+      ],
+      "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_000004.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": 1226}
+{"episode_index": 1, "tasks": ["Scan the top surface of the flat plate"], "length": 1461}
+{"episode_index": 2, "tasks": ["Scan the top surface of the flat plate"], "length": 570}
+{"episode_index": 3, "tasks": ["Scan the top surface of the flat plate"], "length": 773}
+{"episode_index": 4, "tasks": ["Scan the top surface of the flat plate"], "length": 921}

meta/episodes_stats.jsonl

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meta/global_min_max.json

@@ -0,0 +1,52 @@
+{
+  "features":[
+    "Base",
+    "Shoulder",
+    "Elbow",
+    "Wrist1",
+    "Wrist2",
+    "Wrist3",
+    "scanner_state"  
+  ],
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+      -2.187286615371704,
+      0.0
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meta/index_tracker.json

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meta/info.json

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meta/tasks.jsonl

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