| --- |
| 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": "v3.0", |
| "robot_type": "so101_follower", |
| "total_episodes": 10, |
| "total_frames": 4241, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 500, |
| "fps": 30, |
| "splits": { |
| "train": "0:10" |
| }, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| "features": { |
| "action": { |
| "dtype": "float32", |
| "names": [ |
| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ], |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "names": [ |
| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ], |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.images.handeye": { |
| "dtype": "video", |
| "shape": [ |
| 360, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.fixed": { |
| "dtype": "video", |
| "shape": [ |
| 360, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.tactile": { |
| "dtype": "float32", |
| "shape": [ |
| 207 |
| ], |
| "names": [ |
| "tactile.force_000.x", |
| "tactile.force_000.y", |
| "tactile.force_000.z", |
| "tactile.force_001.x", |
| "tactile.force_001.y", |
| "tactile.force_001.z", |
| "tactile.force_002.x", |
| "tactile.force_002.y", |
| "tactile.force_002.z", |
| "tactile.force_003.x", |
| "tactile.force_003.y", |
| "tactile.force_003.z", |
| "tactile.force_004.x", |
| "tactile.force_004.y", |
| "tactile.force_004.z", |
| "tactile.force_005.x", |
| "tactile.force_005.y", |
| "tactile.force_005.z", |
| "tactile.force_006.x", |
| "tactile.force_006.y", |
| "tactile.force_006.z", |
| "tactile.force_007.x", |
| "tactile.force_007.y", |
| "tactile.force_007.z", |
| "tactile.force_008.x", |
| "tactile.force_008.y", |
| "tactile.force_008.z", |
| "tactile.force_009.x", |
| "tactile.force_009.y", |
| "tactile.force_009.z", |
| "tactile.force_010.x", |
| "tactile.force_010.y", |
| "tactile.force_010.z", |
| "tactile.force_011.x", |
| "tactile.force_011.y", |
| "tactile.force_011.z", |
| "tactile.force_012.x", |
| "tactile.force_012.y", |
| "tactile.force_012.z", |
| "tactile.force_013.x", |
| "tactile.force_013.y", |
| "tactile.force_013.z", |
| "tactile.force_014.x", |
| "tactile.force_014.y", |
| "tactile.force_014.z", |
| "tactile.force_015.x", |
| "tactile.force_015.y", |
| "tactile.force_015.z", |
| "tactile.force_016.x", |
| "tactile.force_016.y", |
| "tactile.force_016.z", |
| "tactile.force_017.x", |
| "tactile.force_017.y", |
| "tactile.force_017.z", |
| "tactile.force_018.x", |
| "tactile.force_018.y", |
| "tactile.force_018.z", |
| "tactile.force_019.x", |
| "tactile.force_019.y", |
| "tactile.force_019.z", |
| "tactile.force_020.x", |
| "tactile.force_020.y", |
| "tactile.force_020.z", |
| "tactile.force_021.x", |
| "tactile.force_021.y", |
| "tactile.force_021.z", |
| "tactile.force_022.x", |
| "tactile.force_022.y", |
| "tactile.force_022.z", |
| "tactile.force_023.x", |
| "tactile.force_023.y", |
| "tactile.force_023.z", |
| "tactile.force_024.x", |
| "tactile.force_024.y", |
| "tactile.force_024.z", |
| "tactile.force_025.x", |
| "tactile.force_025.y", |
| "tactile.force_025.z", |
| "tactile.force_026.x", |
| "tactile.force_026.y", |
| "tactile.force_026.z", |
| "tactile.force_027.x", |
| "tactile.force_027.y", |
| "tactile.force_027.z", |
| "tactile.force_028.x", |
| "tactile.force_028.y", |
| "tactile.force_028.z", |
| "tactile.force_029.x", |
| "tactile.force_029.y", |
| "tactile.force_029.z", |
| "tactile.force_030.x", |
| "tactile.force_030.y", |
| "tactile.force_030.z", |
| "tactile.force_031.x", |
| "tactile.force_031.y", |
| "tactile.force_031.z", |
| "tactile.force_032.x", |
| "tactile.force_032.y", |
| "tactile.force_032.z", |
| "tactile.force_033.x", |
| "tactile.force_033.y", |
| "tactile.force_033.z", |
| "tactile.force_034.x", |
| "tactile.force_034.y", |
| "tactile.force_034.z", |
| "tactile.force_035.x", |
| "tactile.force_035.y", |
| "tactile.force_035.z", |
| "tactile.force_036.x", |
| "tactile.force_036.y", |
| "tactile.force_036.z", |
| "tactile.force_037.x", |
| "tactile.force_037.y", |
| "tactile.force_037.z", |
| "tactile.force_038.x", |
| "tactile.force_038.y", |
| "tactile.force_038.z", |
| "tactile.force_039.x", |
| "tactile.force_039.y", |
| "tactile.force_039.z", |
| "tactile.force_040.x", |
| "tactile.force_040.y", |
| "tactile.force_040.z", |
| "tactile.force_041.x", |
| "tactile.force_041.y", |
| "tactile.force_041.z", |
| "tactile.force_042.x", |
| "tactile.force_042.y", |
| "tactile.force_042.z", |
| "tactile.force_043.x", |
| "tactile.force_043.y", |
| "tactile.force_043.z", |
| "tactile.force_044.x", |
| "tactile.force_044.y", |
| "tactile.force_044.z", |
| "tactile.force_045.x", |
| "tactile.force_045.y", |
| "tactile.force_045.z", |
| "tactile.force_046.x", |
| "tactile.force_046.y", |
| "tactile.force_046.z", |
| "tactile.force_047.x", |
| "tactile.force_047.y", |
| "tactile.force_047.z", |
| "tactile.force_048.x", |
| "tactile.force_048.y", |
| "tactile.force_048.z", |
| "tactile.force_049.x", |
| "tactile.force_049.y", |
| "tactile.force_049.z", |
| "tactile.force_050.x", |
| "tactile.force_050.y", |
| "tactile.force_050.z", |
| "tactile.force_051.x", |
| "tactile.force_051.y", |
| "tactile.force_051.z", |
| "tactile.force_052.x", |
| "tactile.force_052.y", |
| "tactile.force_052.z", |
| "tactile.force_053.x", |
| "tactile.force_053.y", |
| "tactile.force_053.z", |
| "tactile.force_054.x", |
| "tactile.force_054.y", |
| "tactile.force_054.z", |
| "tactile.force_055.x", |
| "tactile.force_055.y", |
| "tactile.force_055.z", |
| "tactile.force_056.x", |
| "tactile.force_056.y", |
| "tactile.force_056.z", |
| "tactile.force_057.x", |
| "tactile.force_057.y", |
| "tactile.force_057.z", |
| "tactile.force_058.x", |
| "tactile.force_058.y", |
| "tactile.force_058.z", |
| "tactile.force_059.x", |
| "tactile.force_059.y", |
| "tactile.force_059.z", |
| "tactile.force_060.x", |
| "tactile.force_060.y", |
| "tactile.force_060.z", |
| "tactile.force_061.x", |
| "tactile.force_061.y", |
| "tactile.force_061.z", |
| "tactile.force_062.x", |
| "tactile.force_062.y", |
| "tactile.force_062.z", |
| "tactile.force_063.x", |
| "tactile.force_063.y", |
| "tactile.force_063.z", |
| "tactile.force_064.x", |
| "tactile.force_064.y", |
| "tactile.force_064.z", |
| "tactile.force_065.x", |
| "tactile.force_065.y", |
| "tactile.force_065.z", |
| "tactile.force_066.x", |
| "tactile.force_066.y", |
| "tactile.force_066.z", |
| "tactile.force_067.x", |
| "tactile.force_067.y", |
| "tactile.force_067.z", |
| "tactile.resultant.x", |
| "tactile.resultant.y", |
| "tactile.resultant.z" |
| ] |
| }, |
| "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] |
| ``` |
