diff --git a/.gitattributes b/.gitattributes index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..55cab133643a2a73e083373d2106533678d0edd5 100644 --- a/.gitattributes +++ b/.gitattributes @@ -9,7 +9,6 @@ *.joblib filter=lfs diff=lfs merge=lfs -text *.lfs.* filter=lfs diff=lfs merge=lfs -text *.lz4 filter=lfs diff=lfs merge=lfs -text -*.mds filter=lfs diff=lfs merge=lfs -text *.mlmodel filter=lfs diff=lfs merge=lfs -text *.model filter=lfs diff=lfs merge=lfs -text *.msgpack filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..2ae84d49f8784599e9642afb1b6014e1c7738e9e --- /dev/null +++ b/README.md @@ -0,0 +1,415 @@ +--- +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": "unknown", + "total_episodes": 50, + "total_frames": 28705, + "total_tasks": 1, + "total_videos": 300, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 33, + "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": [ + 21 + ], + "names": { + "motors": [ + "motor_0", + "motor_1", + "motor_2", + "motor_3", + "motor_4", + "motor_5", + "motor_6", + "motor_7", + "motor_8", + "motor_9", + "motor_10", + "motor_11", + "motor_12", + "motor_13", + "motor_14", + "motor_15", + "motor_16", + "motor_17", + "motor_18", + "motor_19", + "motor_20" + ] + } + }, + "observation.state.left_pose": { + "dtype": "float32", + "shape": [ + 9 + ], + "names": { + "motors": [ + "motor_0", + "motor_1", + "motor_2", + "motor_3", + "motor_4", + "motor_5", + "motor_6", + "motor_7", + "motor_8" + ] + } + }, + "observation.state.right_pose": { + "dtype": "float32", + "shape": [ + 9 + ], + "names": { + "motors": [ + "motor_0", + "motor_1", + "motor_2", + "motor_3", + "motor_4", + "motor_5", + "motor_6", + "motor_7", + "motor_8" + ] + } + }, + "observation.state.middle_pose": { + "dtype": "float32", + "shape": [ + 9 + ], + "names": { + "motors": [ + "motor_0", + "motor_1", + "motor_2", + "motor_3", + "motor_4", + "motor_5", + "motor_6", + "motor_7", + "motor_8" + ] + } + }, + "observation.ctrl.left_pose": { + "dtype": "float32", + "shape": [ + 9 + ], + "names": { + "motors": [ + "motor_0", + "motor_1", + "motor_2", + "motor_3", + "motor_4", + "motor_5", + "motor_6", + "motor_7", + "motor_8" + ] + } + }, + "observation.ctrl.right_pose": { + "dtype": "float32", + "shape": [ + 9 + ], + "names": { + "motors": [ + "motor_0", + "motor_1", + "motor_2", + "motor_3", + "motor_4", + "motor_5", + "motor_6", + "motor_7", + "motor_8" + ] + } + }, + "observation.ctrl.middle_pose": { + "dtype": "float32", + "shape": [ + 9 + ], + "names": { + "motors": [ + "motor_0", + "motor_1", + "motor_2", + "motor_3", + "motor_4", + "motor_5", + "motor_6", + "motor_7", + "motor_8" + ] + } + }, + "observation.images.left_eye_cam": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "video_info": { + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 33, + "has_audio": false + } + }, + "observation.images.right_eye_cam": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "video_info": { + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 33, + "has_audio": false + } + }, + "observation.images.wrist_cam_left": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "video_info": { + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 33, + "has_audio": false + } + }, + "observation.images.wrist_cam_right": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "video_info": { + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 33, + "has_audio": false + } + }, + "observation.images.overhead_cam": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "video_info": { + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 33, + "has_audio": false + } + }, + "observation.images.worms_eye_cam": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "video_info": { + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 33, + "has_audio": false + } + }, + "action": { + "dtype": "float32", + "shape": [ + 21 + ], + "names": { + "motors": [ + "motor_0", + "motor_1", + "motor_2", + "motor_3", + "motor_4", + "motor_5", + "motor_6", + "motor_7", + "motor_8", + "motor_9", + "motor_10", + "motor_11", + "motor_12", + "motor_13", + "motor_14", + "motor_15", + "motor_16", + "motor_17", + "motor_18", + "motor_19", + "motor_20" + ] + } + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.left_eye": { + "dtype": "float32", + "shape": [ + 2 + ], + "names": { + "motors": [ + "motor_0", + "motor_1" + ] + } + }, + "observation.right_eye": { + "dtype": "float32", + "shape": [ + 2 + ], + "names": { + "motors": [ + "motor_0", + "motor_1" + ] + } + }, + "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..9473f817934716a49d33cd3556125583855e7c31 --- /dev/null +++ b/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3c3f0271ecce02b29e6d8cad36719eb831c24ae89f344a63ad9d86305895815 +size 284082 diff --git a/data/chunk-000/episode_000001.parquet b/data/chunk-000/episode_000001.parquet new file mode 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