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README.md

@@ -4,7 +4,7 @@ task_categories:
 - robotics
 tags:
 - LeRobot
-- ffw_bg2_rev4
+- omy_f3m
 - robotis
 configs:
 - config_name: default
@@ -27,16 +27,16 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
 ```json
 {
     "codebase_version": "v2.1",
-    "robot_type": "ffw_bg2_rev4",
-    "total_episodes": 2,
-    "total_frames": 873,
+    "robot_type": "omy_f3m",
+    "total_episodes": 6,
+    "total_frames": 351,
     "total_tasks": 1,
-    "total_videos": 8,
+    "total_videos": 6,
     "total_chunks": 1,
     "chunks_size": 1000,
-    "fps": 10,
+    "fps": 30,
     "splits": {
-        "train": "0:2"
+        "train": "0:6"
     },
     "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",
@@ -76,7 +76,7 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": null
         },
-        "observation.images.cam_head": {
+        "observation.images.cam_wrist": {
             "dtype": "video",
             "names": [
                 "height",
@@ -84,73 +84,13 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "channels"
             ],
             "shape": [
-                376,
-                672,
+                480,
+                848,
                 3
             ],
             "info": {
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-                "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": [
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-                672,
-                3
-            ],
-            "info": {
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-                "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.height": 480,
+                "video.width": 848,
                 "video.channels": 3,
                 "video.codec": "libx264",
                 "video.pix_fmt": "yuv420p"
@@ -159,55 +99,31 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
         "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"
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "rh_r1_joint"
             ],
             "shape": [
-                19
+                7
             ]
         },
         "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"
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "rh_r1_joint"
             ],
             "shape": [
-                19
+                7
             ]
         }
     }

data/chunk-000/episode_000000.parquet

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meta/episodes.jsonl

@@ -1,25 +1,6 @@
-{"episode_index": 0, "tasks": ["TEST"], "length": 601}
-{"episode_index": 1, "tasks": ["TEST"], "length": 272}
-{"episode_index": 2, "tasks": ["TEST"], "length": 601}
-{"episode_index": 3, "tasks": ["TEST"], "length": 228}
-{"episode_index": 4, "tasks": ["TEST"], "length": 1057}
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-{"episode_index": 23, "tasks": ["TEST"], "length": 906}
-{"episode_index": 24, "tasks": ["TEST"], "length": 971}
+{"episode_index": 0, "tasks": ["test"], "length": 43}
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+{"episode_index": 2, "tasks": ["test"], "length": 20}
+{"episode_index": 3, "tasks": ["test"], "length": 97}
+{"episode_index": 4, "tasks": ["test"], "length": 47}
+{"episode_index": 5, "tasks": ["test"], "length": 101}

meta/info.json

@@ -1,15 +1,15 @@
 {
     "codebase_version": "v2.1",
-    "robot_type": "ffw_bg2_rev4",
-    "total_episodes": 25,
-    "total_frames": 21352,
+    "robot_type": "omy_f3m",
+    "total_episodes": 6,
+    "total_frames": 351,
     "total_tasks": 1,
-    "total_videos": 100,
+    "total_videos": 6,
     "total_chunks": 1,
     "chunks_size": 1000,
-    "fps": 10,
+    "fps": 30,
     "splits": {
-        "train": "0:25"
+        "train": "0:6"
     },
     "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",
@@ -49,7 +49,7 @@
             ],
             "names": null
         },
-        "observation.images.cam_head": {
+        "observation.images.cam_wrist": {
             "dtype": "video",
             "names": [
                 "height",
@@ -57,73 +57,13 @@
                 "channels"
             ],
             "shape": [
-                376,
-                672,
+                480,
+                848,
                 3
             ],
             "info": {
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-                "video.width": 672,
-                "video.channels": 3,
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-            }
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-            }
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-            "names": [
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-                "width",
-                "channels"
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+                "video.height": 480,
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                 "video.channels": 3,
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                 "video.pix_fmt": "yuv420p"
@@ -132,55 +72,31 @@
         "observation.state": {
             "dtype": "float32",
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-                "arm_l_joint1",
-                "arm_l_joint2",
-                "arm_l_joint3",
-                "arm_l_joint4",
-                "arm_l_joint5",
-                "arm_l_joint6",
-                "arm_l_joint7",
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-                "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"
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "rh_r1_joint"
             ],
             "shape": [
-                19
+                7
             ]
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-                "arm_l_joint1",
-                "arm_l_joint2",
-                "arm_l_joint3",
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-                "arm_r_joint3",
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-                "arm_r_joint5",
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-                "arm_r_joint7",
-                "gripper_r_joint1",
-                "head_joint1",
-                "head_joint2",
-                "lift_joint"
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "rh_r1_joint"
             ],
             "shape": [
-                19
+                7
             ]
         }
     }

meta/tasks.jsonl

@@ -1 +1 @@
-{"task_index": 0, "task": "TEST"}
+{"task_index": 0, "task": "test"}

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