| --- |
| 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": "gr1t1", |
| "total_episodes": 1000, |
| "total_frames": 362600, |
| "total_tasks": 1, |
| "total_videos": 1000, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 30, |
| "splits": { |
| "train": "0:1000" |
| }, |
| "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.top": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 800, |
| 1280 |
| ], |
| "names": [ |
| "channel", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 30.0, |
| "video.height": 800, |
| "video.width": 1280, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 32 |
| ], |
| "names": [ |
| "waist_yaw_joint", |
| "waist_pitch_joint", |
| "waist_roll_joint", |
| "head_yaw_joint", |
| "head_roll_joint", |
| "head_pitch_joint", |
| "left_shoulder_pitch_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_yaw_joint", |
| "left_elbow_pitch_joint", |
| "left_wrist_yaw_joint", |
| "left_wrist_roll_joint", |
| "left_wrist_pitch_joint", |
| "right_shoulder_pitch_joint", |
| "right_shoulder_roll_joint", |
| "right_shoulder_yaw_joint", |
| "right_elbow_pitch_joint", |
| "right_wrist_yaw_joint", |
| "right_wrist_roll_joint", |
| "right_wrist_pitch_joint", |
| "L_pinky_proximal_joint", |
| "L_ring_proximal_joint", |
| "L_middle_proximal_joint", |
| "L_index_proximal_joint", |
| "L_thumb_proximal_pitch_joint", |
| "L_thumb_proximal_yaw_joint", |
| "R_pinky_proximal_joint", |
| "R_ring_proximal_joint", |
| "R_middle_proximal_joint", |
| "R_index_proximal_joint", |
| "R_thumb_proximal_pitch_joint", |
| "R_thumb_proximal_yaw_joint" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 32 |
| ], |
| "names": [ |
| "waist_yaw_joint", |
| "waist_pitch_joint", |
| "waist_roll_joint", |
| "head_yaw_joint", |
| "head_roll_joint", |
| "head_pitch_joint", |
| "left_shoulder_pitch_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_yaw_joint", |
| "left_elbow_pitch_joint", |
| "left_wrist_yaw_joint", |
| "left_wrist_roll_joint", |
| "left_wrist_pitch_joint", |
| "right_shoulder_pitch_joint", |
| "right_shoulder_roll_joint", |
| "right_shoulder_yaw_joint", |
| "right_elbow_pitch_joint", |
| "right_wrist_yaw_joint", |
| "right_wrist_roll_joint", |
| "right_wrist_pitch_joint", |
| "L_pinky_proximal_joint", |
| "L_ring_proximal_joint", |
| "L_middle_proximal_joint", |
| "L_index_proximal_joint", |
| "L_thumb_proximal_pitch_joint", |
| "L_thumb_proximal_yaw_joint", |
| "R_pinky_proximal_joint", |
| "R_ring_proximal_joint", |
| "R_middle_proximal_joint", |
| "R_index_proximal_joint", |
| "R_thumb_proximal_pitch_joint", |
| "R_thumb_proximal_yaw_joint" |
| ] |
| }, |
| "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 |
| }, |
| "next.done": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
