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"dtype": "video", "shape": [ 480, @@ -65,7 +65,7 @@ "has_audio": false } }, - "observation.image": { + "observation.images.image": { "dtype": "video", "shape": [ 480, diff --git a/therarelab/so100_pick_place_2/meta/info.json.bak b/therarelab/so100_pick_place_2/meta/info.json.bak new file mode 100644 index 0000000000000000000000000000000000000000..4df821cb0b2d3eabc238610130b489f1b6f58ae4 --- /dev/null +++ b/therarelab/so100_pick_place_2/meta/info.json.bak @@ -0,0 +1,127 @@ +{ + "codebase_version": "v2.1", + "robot_type": "so100", + "total_episodes": 60, + "total_frames": 25014, + "total_tasks": 1, + "total_videos": 120, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30, + "splits": { + "train": "0:60" + }, + "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": { + "action": { + "dtype": "float32", + "shape": [ + 6 + ], + "names": [ + "main_shoulder_pan", + "main_shoulder_lift", + "main_elbow_flex", + "main_wrist_flex", + "main_wrist_roll", + "main_gripper" + ] + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 6 + ], + "names": [ + "main_shoulder_pan", + "main_shoulder_lift", + "main_elbow_flex", + "main_wrist_flex", + "main_wrist_roll", + "main_gripper" + ] + }, + "observation.image2": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 30.0, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.image": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 30.0, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "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 + } + } +} \ No newline at end of file diff --git a/triton7777/so100_dataset_mix/.gitattributes b/triton7777/so100_dataset_mix/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..1ef325f1b111266a6b26e0196871bd78baa8c2f3 --- /dev/null +++ b/triton7777/so100_dataset_mix/.gitattributes @@ -0,0 +1,59 @@ +*.7z filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs merge=lfs -text +*.bin filter=lfs diff=lfs merge=lfs -text +*.bz2 filter=lfs diff=lfs merge=lfs -text +*.ckpt filter=lfs diff=lfs merge=lfs -text +*.ftz filter=lfs diff=lfs merge=lfs -text +*.gz filter=lfs diff=lfs merge=lfs -text +*.h5 filter=lfs diff=lfs merge=lfs -text +*.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 +*.npy filter=lfs diff=lfs merge=lfs -text +*.npz filter=lfs diff=lfs merge=lfs -text +*.onnx filter=lfs diff=lfs merge=lfs -text +*.ot filter=lfs diff=lfs merge=lfs -text +*.parquet filter=lfs diff=lfs merge=lfs -text +*.pb filter=lfs diff=lfs merge=lfs -text +*.pickle filter=lfs diff=lfs merge=lfs -text +*.pkl filter=lfs diff=lfs merge=lfs -text +*.pt filter=lfs diff=lfs merge=lfs -text +*.pth filter=lfs diff=lfs merge=lfs -text +*.rar filter=lfs diff=lfs merge=lfs -text +*.safetensors filter=lfs diff=lfs merge=lfs -text +saved_model/**/* filter=lfs diff=lfs merge=lfs -text +*.tar.* filter=lfs diff=lfs merge=lfs -text +*.tar filter=lfs diff=lfs merge=lfs -text +*.tflite filter=lfs diff=lfs merge=lfs -text +*.tgz filter=lfs diff=lfs merge=lfs -text +*.wasm filter=lfs diff=lfs merge=lfs -text +*.xz filter=lfs diff=lfs merge=lfs -text +*.zip filter=lfs diff=lfs merge=lfs -text +*.zst filter=lfs diff=lfs merge=lfs -text +*tfevents* filter=lfs diff=lfs merge=lfs -text +# Audio files - uncompressed +*.pcm filter=lfs diff=lfs merge=lfs -text +*.sam filter=lfs diff=lfs merge=lfs -text +*.raw filter=lfs diff=lfs merge=lfs -text +# Audio files - compressed +*.aac filter=lfs diff=lfs merge=lfs -text +*.flac filter=lfs diff=lfs merge=lfs -text +*.mp3 filter=lfs diff=lfs merge=lfs -text +*.ogg filter=lfs diff=lfs merge=lfs -text +*.wav filter=lfs diff=lfs merge=lfs -text +# Image files - uncompressed +*.bmp filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.tiff filter=lfs diff=lfs merge=lfs -text +# Image files - compressed +*.jpg filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.webp filter=lfs diff=lfs merge=lfs -text +# Video files - compressed +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.webm filter=lfs diff=lfs merge=lfs -text diff --git a/triton7777/so100_dataset_mix/README.md b/triton7777/so100_dataset_mix/README.md new file mode 100644 index 0000000000000000000000000000000000000000..d8f6f4c3798096e4c18761f9b15cf5651a39fedd --- /dev/null +++ b/triton7777/so100_dataset_mix/README.md @@ -0,0 +1,208 @@ +--- +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": "so100", + "total_episodes": 65, + "total_frames": 66189, + "total_tasks": 7, + "total_videos": 260, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30, + "splits": { + "train": "0:65" + }, + "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": { + "action": { + "dtype": "float32", + "shape": [ + 6 + ], + "names": [ + "main_shoulder_pan", + "main_shoulder_lift", + "main_elbow_flex", + "main_wrist_flex", + "main_wrist_roll", + "main_gripper" + ] + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 6 + ], + "names": [ + "main_shoulder_pan", + "main_shoulder_lift", + "main_elbow_flex", + "main_wrist_flex", + "main_wrist_roll", + "main_gripper" + ] + }, + "observation.images.s_left": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 30.0, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.s_right": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 30.0, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.gripper": { + "dtype": "video", + "shape": [ + 360, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 30.0, + "video.height": 360, + "video.width": 640, + "video.channels": 3, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.top": { + "dtype": "video", + "shape": [ + 360, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 30.0, + "video.height": 360, + "video.width": 640, + "video.channels": 3, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "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 + } + } +} +``` + + +## Citation + +**BibTeX:** + +```bibtex +[More Information Needed] +``` \ No newline at end of file diff --git a/triton7777/so100_dataset_mix/meta/episodes_stats.jsonl 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