Datasets:
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---
task_categories:
- robotics
configs:
- config_name: default
data_dir: data
tags:
- LeRobot
- koch
---
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": "koch",
"total_episodes": 50,
"total_frames": 21267,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:50"
},
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan",
"shoulder_lift",
"elbow_flex",
"wrist_flex",
"wrist_roll",
"gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan",
"shoulder_lift",
"elbow_flex",
"wrist_flex",
"wrist_roll",
"gripper"
]
},
"observation.images.laptop": {
"dtype": "video",
"shape": [
640,
480,
3
],
"names": [
"width",
"height",
"channel"
],
"video_path": {
"video.fps": 30.0,
"video.width": 640,
"video.height": 480,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"video_info": {
"video.fps": 30.0,
"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.phone": {
"dtype": "video",
"shape": [
640,
480,
3
],
"names": [
"width",
"height",
"channel"
],
"video_path": {
"video.fps": 30.0,
"video.width": 640,
"video.height": 480,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"video_info": {
"video.fps": 30.0,
"video.width": 640,
"video.height": 480,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"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
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
},
"videos": {
"videos_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"observation.images.laptop": {
"video.fps": 30.0,
"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.phone": {
"video.fps": 30.0,
"video.width": 640,
"video.height": 480,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
}
}
``` |