File size: 3,855 Bytes
99f25e1 d7eaa93 6c67981 99f25e1 6c67981 d7eaa93 6c67981 b38c2f8 6c67981 871f7a1 6c67981 871f7a1 6c67981 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 |
---
task_categories:
- robotics
tags:
- LeRobot
- aloha
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
[meta/info.json](meta/info.json)
```json
{
"codebase_version": "v2.0",
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"robot_type": "aloha",
"total_episodes": 55,
"total_frames": 110000,
"total_tasks": 1,
"total_videos": 165,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:55"
},
"keys": [
"observation.state",
"observation.effort",
"action"
],
"video_keys": [
"observation.images.cam_high",
"observation.images.cam_left_wrist",
"observation.images.cam_right_wrist"
],
"image_keys": [],
"shapes": {
"observation.state": 14,
"observation.effort": 14,
"action": 14,
"observation.images.cam_high": {
"width": 640,
"height": 480,
"channels": 3
},
"observation.images.cam_left_wrist": {
"width": 640,
"height": 480,
"channels": 3
},
"observation.images.cam_right_wrist": {
"width": 640,
"height": 480,
"channels": 3
}
},
"names": {
"observation.state": [
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
],
"action": [
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
],
"observation.effort": [
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
},
"videos": {
"videos_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"observation.images.cam_high": {
"video.fps": 50.0,
"video.width": 640,
"video.height": 480,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"observation.images.cam_left_wrist": {
"video.fps": 50.0,
"video.width": 640,
"video.height": 480,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"observation.images.cam_right_wrist": {
"video.fps": 50.0,
"video.width": 640,
"video.height": 480,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
}
}
``` |