Upload trimmed dataset compatible with LeRobot

README.md

@@ -6,18 +6,16 @@ configs:
     path: data/*.parquet
 ---
 
-# Trimmed Dataset
+# Trimmed Towel Folding Dataset
 
-Clean dataset with 1 episode from arsenxeno/record-test.
+This is a trimmed version of arsenxeno/record-test where each episode is cut at the first fold detection.
 
-Episodes are numbered sequentially: 0.
-
-## Statistics
+## Dataset Info
 - Total episodes: 1
 - Total frames: N/A
 - Episodes included: [0]
 
-## Usage
+## Usage with LeRobot
 
 ```python
 from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
@@ -37,3 +35,6 @@ lerobot train \
     env=so100_real \
     hydra.run.dir=outputs/train
 ```
+
+## Original Dataset
+Source: https://huggingface.co/datasets/arsenxeno/record-test

meta/info.json

@@ -1,51 +1,58 @@
 {
-  "codebase_version": "v2.1",
   "robot_type": "bi_so100_follower",
+  "codebase_version": "v2.1",
   "total_episodes": 1,
   "total_frames": 312,
-  "fps": 15,
+  "total_tasks": 1,
+  "total_videos": 51,
+  "total_chunks": 1,
   "chunks_size": 1000,
+  "fps": 15,
+  "splits": {
+    "train": "0:51"
+  },
+  "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.front": {
+    "action": {
+      "dtype": "float32",
       "shape": [
-        720,
-        1280,
-        3
+        12
       ],
-      "dtype": "uint8",
       "names": [
-        "height",
-        "width",
-        "channels"
+        "left_shoulder_pan.pos",
+        "left_shoulder_lift.pos",
+        "left_elbow_flex.pos",
+        "left_wrist_flex.pos",
+        "left_wrist_roll.pos",
+        "left_gripper.pos",
+        "right_shoulder_pan.pos",
+        "right_shoulder_lift.pos",
+        "right_elbow_flex.pos",
+        "right_wrist_flex.pos",
+        "right_wrist_roll.pos",
+        "right_gripper.pos"
       ]
     },
     "observation.state": {
-      "shape": [
-        12
-      ],
       "dtype": "float32",
-      "names": null
-    },
-    "action": {
       "shape": [
         12
       ],
-      "dtype": "float32",
-      "names": null
-    },
-    "episode_index": {
-      "dtype": "int64",
-      "shape": [
-        1
-      ],
-      "names": null
-    },
-    "frame_index": {
-      "dtype": "int64",
-      "shape": [
-        1
-      ],
-      "names": null
+      "names": [
+        "left_shoulder_pan.pos",
+        "left_shoulder_lift.pos",
+        "left_elbow_flex.pos",
+        "left_wrist_flex.pos",
+        "left_wrist_roll.pos",
+        "left_gripper.pos",
+        "right_shoulder_pan.pos",
+        "right_shoulder_lift.pos",
+        "right_elbow_flex.pos",
+        "right_wrist_flex.pos",
+        "right_wrist_roll.pos",
+        "right_gripper.pos"
+      ]
     },
     "timestamp": {
       "dtype": "float32",
@@ -54,15 +61,15 @@
       ],
       "names": null
     },
-    "next.done": {
-      "dtype": "bool",
+    "episode_index": {
+      "dtype": "int64",
       "shape": [
         1
       ],
       "names": null
     },
-    "next.success": {
-      "dtype": "bool",
+    "frame_index": {
+      "dtype": "int64",
       "shape": [
         1
       ],
@@ -81,6 +88,26 @@
         1
       ],
       "names": null
+    },
+    "observation.images.front": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.fps": 15,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
     }
   },
   "videos": [