diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..82b33055aca9ec2514cf8a686e50a024a45669a8 --- /dev/null +++ b/README.md @@ -0,0 +1,199 @@ +--- +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). + +## 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": "v2.0", + "robot_type": "aloha", + "total_episodes": 50, + "total_frames": 20000, + "total_tasks": 1, + "total_videos": 0, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 50, + "splits": { + "train": "0:50" + }, + "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.state": { + "dtype": "float32", + "shape": [ + 14 + ], + "names": [ + [ + "right_waist", + "right_shoulder", + "right_elbow", + "right_forearm_roll", + "right_wrist_angle", + "right_wrist_rotate", + "right_gripper", + "left_waist", + "left_shoulder", + "left_elbow", + "left_forearm_roll", + "left_wrist_angle", + "left_wrist_rotate", + "left_gripper" + ] + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 14 + ], + "names": [ + [ + "right_waist", + "right_shoulder", + "right_elbow", + "right_forearm_roll", + "right_wrist_angle", + "right_wrist_rotate", + "right_gripper", + "left_waist", + "left_shoulder", + "left_elbow", + "left_forearm_roll", + "left_wrist_angle", + "left_wrist_rotate", + "left_gripper" + ] + ] + }, + "observation.velocity": { + "dtype": "float32", + "shape": [ + 14 + ], + "names": [ + [ + "right_waist", + "right_shoulder", + "right_elbow", + "right_forearm_roll", + "right_wrist_angle", + "right_wrist_rotate", + "right_gripper", + "left_waist", + "left_shoulder", + "left_elbow", + "left_forearm_roll", + "left_wrist_angle", + "left_wrist_rotate", + "left_gripper" + ] + ] + }, + "observation.images.cam_high": { + "dtype": "image", + "shape": [ + 3, + 480, + 640 + ], + "names": [ + "channels", + "height", + "width" + ] + }, + "observation.images.cam_left_wrist": { + "dtype": "image", + "shape": [ + 3, + 480, + 640 + ], + "names": [ + "channels", + "height", + "width" + ] + }, + "observation.images.cam_right_wrist": { + "dtype": "image", + "shape": [ + 3, + 480, + 640 + ], + "names": [ + "channels", + "height", + "width" + ] + }, + "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 + } + } +} +``` + + +## 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..ec6c16258d205a854d89bdc88356d2e25084771d --- /dev/null +++ b/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f68a31ec67a0a5a7aa352c1e4dc703b3e8049a10f5fc9d3a1947641da20b46b +size 30799640 diff --git a/data/chunk-000/episode_000001.parquet b/data/chunk-000/episode_000001.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ba7f0b34e04784e6544053cf0bcd78c19910195e --- /dev/null +++ b/data/chunk-000/episode_000001.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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