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README.md
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|
| 1 |
+
---
|
| 2 |
+
license: apache-2.0
|
| 3 |
+
task_categories:
|
| 4 |
+
- robotics
|
| 5 |
+
tags:
|
| 6 |
+
- LeRobot
|
| 7 |
+
configs:
|
| 8 |
+
- config_name: default
|
| 9 |
+
data_files: data/*/*.parquet
|
| 10 |
+
---
|
| 11 |
+
|
| 12 |
+
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
|
| 13 |
+
|
| 14 |
+
## Dataset Description
|
| 15 |
+
|
| 16 |
+
|
| 17 |
+
|
| 18 |
+
- **Homepage:** [More Information Needed]
|
| 19 |
+
- **Paper:** [More Information Needed]
|
| 20 |
+
- **License:** apache-2.0
|
| 21 |
+
|
| 22 |
+
## Dataset Structure
|
| 23 |
+
|
| 24 |
+
[meta/info.json](meta/info.json):
|
| 25 |
+
```json
|
| 26 |
+
{
|
| 27 |
+
"codebase_version": "v2.1",
|
| 28 |
+
"robot_type": "dual_panda_robotiq_ee",
|
| 29 |
+
"total_episodes": 1,
|
| 30 |
+
"total_frames": 207,
|
| 31 |
+
"total_tasks": 1,
|
| 32 |
+
"total_videos": 94,
|
| 33 |
+
"total_chunks": 1,
|
| 34 |
+
"chunks_size": 1000,
|
| 35 |
+
"fps": 50,
|
| 36 |
+
"splits": {
|
| 37 |
+
"train": "0:1"
|
| 38 |
+
},
|
| 39 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 40 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 41 |
+
"features": {
|
| 42 |
+
"observation.joint": {
|
| 43 |
+
"dtype": "float32",
|
| 44 |
+
"shape": [
|
| 45 |
+
16
|
| 46 |
+
],
|
| 47 |
+
"names": [
|
| 48 |
+
"l_robot/joint1",
|
| 49 |
+
"l_robot/joint2",
|
| 50 |
+
"l_robot/joint3",
|
| 51 |
+
"l_robot/joint4",
|
| 52 |
+
"l_robot/joint5",
|
| 53 |
+
"l_robot/joint6",
|
| 54 |
+
"l_robot/joint7",
|
| 55 |
+
"l_robot/right_driver_joint",
|
| 56 |
+
"l_robot/right_coupler_joint",
|
| 57 |
+
"l_robot/right_spring_link_joint",
|
| 58 |
+
"l_robot/right_follower_joint",
|
| 59 |
+
"l_robot/left_driver_joint",
|
| 60 |
+
"l_robot/left_coupler_joint",
|
| 61 |
+
"l_robot/left_spring_link_joint",
|
| 62 |
+
"l_robot/left_follower_joint",
|
| 63 |
+
"r_robot/joint1",
|
| 64 |
+
"r_robot/joint2",
|
| 65 |
+
"r_robot/joint3",
|
| 66 |
+
"r_robot/joint4",
|
| 67 |
+
"r_robot/joint5",
|
| 68 |
+
"r_robot/joint6",
|
| 69 |
+
"r_robot/joint7",
|
| 70 |
+
"r_robot/right_driver_joint",
|
| 71 |
+
"r_robot/right_coupler_joint",
|
| 72 |
+
"r_robot/right_spring_link_joint",
|
| 73 |
+
"r_robot/right_follower_joint",
|
| 74 |
+
"r_robot/left_driver_joint",
|
| 75 |
+
"r_robot/left_coupler_joint",
|
| 76 |
+
"r_robot/left_spring_link_joint",
|
| 77 |
+
"r_robot/left_follower_joint"
|
| 78 |
+
]
|
| 79 |
+
},
|
| 80 |
+
"observation.state": {
|
| 81 |
+
"dtype": "float32",
|
| 82 |
+
"shape": [
|
| 83 |
+
30
|
| 84 |
+
],
|
| 85 |
+
"names": [
|
| 86 |
+
"l_robot/joint1",
|
| 87 |
+
"l_robot/joint2",
|
| 88 |
+
"l_robot/joint3",
|
| 89 |
+
"l_robot/joint4",
|
| 90 |
+
"l_robot/joint5",
|
| 91 |
+
"l_robot/joint6",
|
| 92 |
+
"l_robot/joint7",
|
| 93 |
+
"l_robot/right_driver_joint",
|
| 94 |
+
"l_robot/right_coupler_joint",
|
| 95 |
+
"l_robot/right_spring_link_joint",
|
| 96 |
+
"l_robot/right_follower_joint",
|
| 97 |
+
"l_robot/left_driver_joint",
|
| 98 |
+
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| 2195 |
+
"video"
|
| 2196 |
+
],
|
| 2197 |
+
"info": {
|
| 2198 |
+
"video.fps": 50.0,
|
| 2199 |
+
"video.height": 256,
|
| 2200 |
+
"video.width": 256,
|
| 2201 |
+
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|
| 2202 |
+
"video.codec": "h264",
|
| 2203 |
+
"video.pix_fmt": "yuv420p",
|
| 2204 |
+
"video.is_depth_map": false,
|
| 2205 |
+
"has_audio": false
|
| 2206 |
+
}
|
| 2207 |
+
},
|
| 2208 |
+
"observation.environment.main_camera.image.pos5_aug3_none": {
|
| 2209 |
+
"dtype": "video",
|
| 2210 |
+
"shape": [
|
| 2211 |
+
256,
|
| 2212 |
+
256,
|
| 2213 |
+
3
|
| 2214 |
+
],
|
| 2215 |
+
"names": [
|
| 2216 |
+
"video"
|
| 2217 |
+
],
|
| 2218 |
+
"info": {
|
| 2219 |
+
"video.fps": 50.0,
|
| 2220 |
+
"video.height": 256,
|
| 2221 |
+
"video.width": 256,
|
| 2222 |
+
"video.channels": 3,
|
| 2223 |
+
"video.codec": "h264",
|
| 2224 |
+
"video.pix_fmt": "yuv420p",
|
| 2225 |
+
"video.is_depth_map": false,
|
| 2226 |
+
"has_audio": false
|
| 2227 |
+
}
|
| 2228 |
+
},
|
| 2229 |
+
"observation.environment.main_camera.image.pos6_aug1_none": {
|
| 2230 |
+
"dtype": "video",
|
| 2231 |
+
"shape": [
|
| 2232 |
+
256,
|
| 2233 |
+
256,
|
| 2234 |
+
3
|
| 2235 |
+
],
|
| 2236 |
+
"names": [
|
| 2237 |
+
"video"
|
| 2238 |
+
],
|
| 2239 |
+
"info": {
|
| 2240 |
+
"video.fps": 50.0,
|
| 2241 |
+
"video.height": 256,
|
| 2242 |
+
"video.width": 256,
|
| 2243 |
+
"video.channels": 3,
|
| 2244 |
+
"video.codec": "h264",
|
| 2245 |
+
"video.pix_fmt": "yuv420p",
|
| 2246 |
+
"video.is_depth_map": false,
|
| 2247 |
+
"has_audio": false
|
| 2248 |
+
}
|
| 2249 |
+
},
|
| 2250 |
+
"observation.environment.main_camera.image.pos6_aug2_none": {
|
| 2251 |
+
"dtype": "video",
|
| 2252 |
+
"shape": [
|
| 2253 |
+
256,
|
| 2254 |
+
256,
|
| 2255 |
+
3
|
| 2256 |
+
],
|
| 2257 |
+
"names": [
|
| 2258 |
+
"video"
|
| 2259 |
+
],
|
| 2260 |
+
"info": {
|
| 2261 |
+
"video.fps": 50.0,
|
| 2262 |
+
"video.height": 256,
|
| 2263 |
+
"video.width": 256,
|
| 2264 |
+
"video.channels": 3,
|
| 2265 |
+
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|
| 2266 |
+
"video.pix_fmt": "yuv420p",
|
| 2267 |
+
"video.is_depth_map": false,
|
| 2268 |
+
"has_audio": false
|
| 2269 |
+
}
|
| 2270 |
+
},
|
| 2271 |
+
"observation.environment.main_camera.image.pos6_aug3_none": {
|
| 2272 |
+
"dtype": "video",
|
| 2273 |
+
"shape": [
|
| 2274 |
+
256,
|
| 2275 |
+
256,
|
| 2276 |
+
3
|
| 2277 |
+
],
|
| 2278 |
+
"names": [
|
| 2279 |
+
"video"
|
| 2280 |
+
],
|
| 2281 |
+
"info": {
|
| 2282 |
+
"video.fps": 50.0,
|
| 2283 |
+
"video.height": 256,
|
| 2284 |
+
"video.width": 256,
|
| 2285 |
+
"video.channels": 3,
|
| 2286 |
+
"video.codec": "h264",
|
| 2287 |
+
"video.pix_fmt": "yuv420p",
|
| 2288 |
+
"video.is_depth_map": false,
|
| 2289 |
+
"has_audio": false
|
| 2290 |
+
}
|
| 2291 |
+
},
|
| 2292 |
+
"observation.environment.main_camera.image.pos7_aug1_none": {
|
| 2293 |
+
"dtype": "video",
|
| 2294 |
+
"shape": [
|
| 2295 |
+
256,
|
| 2296 |
+
256,
|
| 2297 |
+
3
|
| 2298 |
+
],
|
| 2299 |
+
"names": [
|
| 2300 |
+
"video"
|
| 2301 |
+
],
|
| 2302 |
+
"info": {
|
| 2303 |
+
"video.fps": 50.0,
|
| 2304 |
+
"video.height": 256,
|
| 2305 |
+
"video.width": 256,
|
| 2306 |
+
"video.channels": 3,
|
| 2307 |
+
"video.codec": "h264",
|
| 2308 |
+
"video.pix_fmt": "yuv420p",
|
| 2309 |
+
"video.is_depth_map": false,
|
| 2310 |
+
"has_audio": false
|
| 2311 |
+
}
|
| 2312 |
+
},
|
| 2313 |
+
"observation.environment.main_camera.image.pos7_aug2_none": {
|
| 2314 |
+
"dtype": "video",
|
| 2315 |
+
"shape": [
|
| 2316 |
+
256,
|
| 2317 |
+
256,
|
| 2318 |
+
3
|
| 2319 |
+
],
|
| 2320 |
+
"names": [
|
| 2321 |
+
"video"
|
| 2322 |
+
],
|
| 2323 |
+
"info": {
|
| 2324 |
+
"video.fps": 50.0,
|
| 2325 |
+
"video.height": 256,
|
| 2326 |
+
"video.width": 256,
|
| 2327 |
+
"video.channels": 3,
|
| 2328 |
+
"video.codec": "h264",
|
| 2329 |
+
"video.pix_fmt": "yuv420p",
|
| 2330 |
+
"video.is_depth_map": false,
|
| 2331 |
+
"has_audio": false
|
| 2332 |
+
}
|
| 2333 |
+
},
|
| 2334 |
+
"observation.environment.main_camera.image.pos7_aug3_none": {
|
| 2335 |
+
"dtype": "video",
|
| 2336 |
+
"shape": [
|
| 2337 |
+
256,
|
| 2338 |
+
256,
|
| 2339 |
+
3
|
| 2340 |
+
],
|
| 2341 |
+
"names": [
|
| 2342 |
+
"video"
|
| 2343 |
+
],
|
| 2344 |
+
"info": {
|
| 2345 |
+
"video.fps": 50.0,
|
| 2346 |
+
"video.height": 256,
|
| 2347 |
+
"video.width": 256,
|
| 2348 |
+
"video.channels": 3,
|
| 2349 |
+
"video.codec": "h264",
|
| 2350 |
+
"video.pix_fmt": "yuv420p",
|
| 2351 |
+
"video.is_depth_map": false,
|
| 2352 |
+
"has_audio": false
|
| 2353 |
+
}
|
| 2354 |
+
},
|
| 2355 |
+
"observation.environment.main_camera.image.pos8_aug1_none": {
|
| 2356 |
+
"dtype": "video",
|
| 2357 |
+
"shape": [
|
| 2358 |
+
256,
|
| 2359 |
+
256,
|
| 2360 |
+
3
|
| 2361 |
+
],
|
| 2362 |
+
"names": [
|
| 2363 |
+
"video"
|
| 2364 |
+
],
|
| 2365 |
+
"info": {
|
| 2366 |
+
"video.fps": 50.0,
|
| 2367 |
+
"video.height": 256,
|
| 2368 |
+
"video.width": 256,
|
| 2369 |
+
"video.channels": 3,
|
| 2370 |
+
"video.codec": "h264",
|
| 2371 |
+
"video.pix_fmt": "yuv420p",
|
| 2372 |
+
"video.is_depth_map": false,
|
| 2373 |
+
"has_audio": false
|
| 2374 |
+
}
|
| 2375 |
+
},
|
| 2376 |
+
"observation.environment.main_camera.image.pos8_aug2_none": {
|
| 2377 |
+
"dtype": "video",
|
| 2378 |
+
"shape": [
|
| 2379 |
+
256,
|
| 2380 |
+
256,
|
| 2381 |
+
3
|
| 2382 |
+
],
|
| 2383 |
+
"names": [
|
| 2384 |
+
"video"
|
| 2385 |
+
],
|
| 2386 |
+
"info": {
|
| 2387 |
+
"video.fps": 50.0,
|
| 2388 |
+
"video.height": 256,
|
| 2389 |
+
"video.width": 256,
|
| 2390 |
+
"video.channels": 3,
|
| 2391 |
+
"video.codec": "h264",
|
| 2392 |
+
"video.pix_fmt": "yuv420p",
|
| 2393 |
+
"video.is_depth_map": false,
|
| 2394 |
+
"has_audio": false
|
| 2395 |
+
}
|
| 2396 |
+
},
|
| 2397 |
+
"observation.environment.main_camera.image.pos8_aug3_none": {
|
| 2398 |
+
"dtype": "video",
|
| 2399 |
+
"shape": [
|
| 2400 |
+
256,
|
| 2401 |
+
256,
|
| 2402 |
+
3
|
| 2403 |
+
],
|
| 2404 |
+
"names": [
|
| 2405 |
+
"video"
|
| 2406 |
+
],
|
| 2407 |
+
"info": {
|
| 2408 |
+
"video.fps": 50.0,
|
| 2409 |
+
"video.height": 256,
|
| 2410 |
+
"video.width": 256,
|
| 2411 |
+
"video.channels": 3,
|
| 2412 |
+
"video.codec": "h264",
|
| 2413 |
+
"video.pix_fmt": "yuv420p",
|
| 2414 |
+
"video.is_depth_map": false,
|
| 2415 |
+
"has_audio": false
|
| 2416 |
+
}
|
| 2417 |
+
},
|
| 2418 |
+
"observation.environment.main_camera.image.pos9_aug1_none": {
|
| 2419 |
+
"dtype": "video",
|
| 2420 |
+
"shape": [
|
| 2421 |
+
256,
|
| 2422 |
+
256,
|
| 2423 |
+
3
|
| 2424 |
+
],
|
| 2425 |
+
"names": [
|
| 2426 |
+
"video"
|
| 2427 |
+
],
|
| 2428 |
+
"info": {
|
| 2429 |
+
"video.fps": 50.0,
|
| 2430 |
+
"video.height": 256,
|
| 2431 |
+
"video.width": 256,
|
| 2432 |
+
"video.channels": 3,
|
| 2433 |
+
"video.codec": "h264",
|
| 2434 |
+
"video.pix_fmt": "yuv420p",
|
| 2435 |
+
"video.is_depth_map": false,
|
| 2436 |
+
"has_audio": false
|
| 2437 |
+
}
|
| 2438 |
+
},
|
| 2439 |
+
"observation.environment.main_camera.image.pos9_aug2_none": {
|
| 2440 |
+
"dtype": "video",
|
| 2441 |
+
"shape": [
|
| 2442 |
+
256,
|
| 2443 |
+
256,
|
| 2444 |
+
3
|
| 2445 |
+
],
|
| 2446 |
+
"names": [
|
| 2447 |
+
"video"
|
| 2448 |
+
],
|
| 2449 |
+
"info": {
|
| 2450 |
+
"video.fps": 50.0,
|
| 2451 |
+
"video.height": 256,
|
| 2452 |
+
"video.width": 256,
|
| 2453 |
+
"video.channels": 3,
|
| 2454 |
+
"video.codec": "h264",
|
| 2455 |
+
"video.pix_fmt": "yuv420p",
|
| 2456 |
+
"video.is_depth_map": false,
|
| 2457 |
+
"has_audio": false
|
| 2458 |
+
}
|
| 2459 |
+
},
|
| 2460 |
+
"observation.environment.main_camera.image.pos9_aug3_none": {
|
| 2461 |
+
"dtype": "video",
|
| 2462 |
+
"shape": [
|
| 2463 |
+
256,
|
| 2464 |
+
256,
|
| 2465 |
+
3
|
| 2466 |
+
],
|
| 2467 |
+
"names": [
|
| 2468 |
+
"video"
|
| 2469 |
+
],
|
| 2470 |
+
"info": {
|
| 2471 |
+
"video.fps": 50.0,
|
| 2472 |
+
"video.height": 256,
|
| 2473 |
+
"video.width": 256,
|
| 2474 |
+
"video.channels": 3,
|
| 2475 |
+
"video.codec": "h264",
|
| 2476 |
+
"video.pix_fmt": "yuv420p",
|
| 2477 |
+
"video.is_depth_map": false,
|
| 2478 |
+
"has_audio": false
|
| 2479 |
+
}
|
| 2480 |
+
}
|
| 2481 |
+
}
|
| 2482 |
+
}
|
| 2483 |
+
```
|
| 2484 |
+
|
| 2485 |
+
|
| 2486 |
+
## Citation
|
| 2487 |
+
|
| 2488 |
+
**BibTeX:**
|
| 2489 |
+
|
| 2490 |
+
```bibtex
|
| 2491 |
+
[More Information Needed]
|
| 2492 |
+
```
|