diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..da303a93faf6e35296619bd57d80be01e78f1a7a --- /dev/null +++ b/README.md @@ -0,0 +1,224 @@ +--- +license: apache-2.0 +task_categories: +- robotics +tags: +- LeRobot +- ffw_bg2_rev4 +- robotis +configs: +- config_name: default + data_files: data/*/*.parquet +--- + +This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). + +## Dataset Description + + + +- **Homepage:** [More Information Needed] +- **Paper:** [More Information Needed] +- **License:** apache-2.0 + +## Dataset Structure + +[meta/info.json](meta/info.json): +```json +{ + "codebase_version": "v2.1", + "robot_type": "ffw_bg2_rev4", + "total_episodes": 2, + "total_frames": 873, + "total_tasks": 1, + "total_videos": 8, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 10, + "splits": { + "train": "0:2" + }, + "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": { + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.cam_head": { + "dtype": "video", + "names": [ + "height", + "width", + "channels" + ], + "shape": [ + 376, + 672, + 3 + ], + "info": { + "video.height": 376, + "video.width": 672, + "video.channels": 3, + "video.codec": "libx264", + "video.pix_fmt": "yuv420p" + } + }, + "observation.images.cam_head_right": { + "dtype": "video", + "names": [ + "height", + "width", + "channels" + ], + "shape": [ + 376, + 672, + 3 + ], + "info": { + "video.height": 376, + "video.width": 672, + "video.channels": 3, + "video.codec": "libx264", + "video.pix_fmt": "yuv420p" + } + }, + "observation.images.cam_wrist_left": { + "dtype": "video", + "names": [ + "height", + "width", + "channels" + ], + "shape": [ + 240, + 424, + 3 + ], + "info": { + "video.height": 240, + "video.width": 424, + "video.channels": 3, + "video.codec": "libx264", + "video.pix_fmt": "yuv420p" + } + }, + "observation.images.cam_wrist_right": { + "dtype": "video", + "names": [ + "height", + "width", + "channels" + ], + "shape": [ + 240, + 424, + 3 + ], + "info": { + "video.height": 240, + "video.width": 424, + "video.channels": 3, + "video.codec": "libx264", + "video.pix_fmt": "yuv420p" + } + }, + "observation.state": { + "dtype": "float32", + "names": [ + "arm_l_joint1", + "arm_l_joint2", + "arm_l_joint3", + "arm_l_joint4", + "arm_l_joint5", + "arm_l_joint6", + "arm_l_joint7", + "gripper_l_joint1", + "arm_r_joint1", + "arm_r_joint2", + "arm_r_joint3", + "arm_r_joint4", + "arm_r_joint5", + "arm_r_joint6", + "arm_r_joint7", + "gripper_r_joint1", + "head_joint1", + "head_joint2", + "lift_joint" + ], + "shape": [ + 19 + ] + }, + "action": { + "dtype": "float32", + "names": [ + "arm_l_joint1", + "arm_l_joint2", + "arm_l_joint3", + "arm_l_joint4", + "arm_l_joint5", + "arm_l_joint6", + "arm_l_joint7", + "gripper_l_joint1", + "arm_r_joint1", + "arm_r_joint2", + "arm_r_joint3", + "arm_r_joint4", + "arm_r_joint5", + "arm_r_joint6", + "arm_r_joint7", + "gripper_r_joint1", + "head_joint1", + "head_joint2", + "lift_joint" + ], + "shape": [ + 19 + ] + } + } +} +``` + + +## Citation + +**BibTeX:** + +```bibtex +[More Information Needed] +``` \ No newline at end of file diff --git a/data/chunk-000/episode_000000.parquet b/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..1a1f146319ae21d3558a58fc410a28ad4636b0ce --- /dev/null +++ b/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version 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