Datasets:
File size: 11,964 Bytes
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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": 1,
"total_frames": 14858,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:1"
},
"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",
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"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",
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"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]
``` |