|
--- |
|
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": 101, |
|
"total_frames": 45500, |
|
"total_tasks": 1, |
|
"total_videos": 404, |
|
"total_chunks": 1, |
|
"chunks_size": 1000, |
|
"fps": 50, |
|
"splits": { |
|
"train": "0:101" |
|
}, |
|
"keys": [ |
|
"observation.state", |
|
"observation.effort", |
|
"action" |
|
], |
|
"video_keys": [ |
|
"observation.images.cam_high", |
|
"observation.images.cam_left_wrist", |
|
"observation.images.cam_low", |
|
"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_low": { |
|
"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_low": { |
|
"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 |
|
} |
|
} |
|
} |
|
``` |
