diff --git a/.commit_message b/.commit_message new file mode 100644 index 0000000000000000000000000000000000000000..b582e8c0266ca7da3633fce31e1700524fc2ebd9 --- /dev/null +++ b/.commit_message @@ -0,0 +1,4 @@ +{ + "commit_msg": "initial_commit", + "commit_uuid": "e3a9596b-a72c-408f-b75c-92cef6f48957" +} \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..47500c5fc702df228bfda8a9b1a757c3816b280c --- /dev/null +++ b/README.md @@ -0,0 +1,267 @@ +--- +license: apache-2.0 +language: + - en + - zh +task_categories: + - robotics +tags: + - RobotCoin + - LeRobot +size_categories: <1K +configs: +- config_name: default + data_files: data/*/*.parquet +--- + +## Dataset Authors +contributed by [[RobotCoin](https://RobotCoin.github.io)] +annotated by [[RobotCoin](https://RobotCoin.github.io)] + +## Dataset Description +This dataset uses an extended format based on [LeRobot](https://github.com/huggingface/lerobot) and is fully compatible with LeRobot. + +- **Homepage:** +- **Paper:** +- **License:** apache-2.0 + +## Dataset Tags + +- RobotCoin + +- LeRobot + + +## Task Descriptions +### tasks +build blocks + +### sub_tasks +Place the arch-shaped block in the center of view with the right gripper +Grasp the triangle-shaped block with the right gripper +Grasp the triangle-shaped block with the left gripper +Grasp the box-shaped block with the left gripper +Place the box-shaped block onto the arch-shaped block with the right gripper +Grasp the arch-shaped block with the right gripper +Grasp the box-shaped block with the right gripper +Place the triangle-shaped block onto the box-shaped block with the left gripper +Place the triangle-shaped block onto the box-shaped block with the right gripper +Place the box-shaped block onto the arch-shaped block with the left gripper +Place the arch-shaped block in the center of view with the left gripper +Grasp the arch-shaped block with the left gripper + +## Dataset Structure + +[meta/info.json](meta/info.json): +```json +{ + "codebase_version": "v2.1", + "robot_type": "realman", + "total_episodes": 498, + "total_frames": 595002, + "total_tasks": 1, + "total_videos": 1494, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:498" + }, + "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.cam_high": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25.0, + "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.cam_left_wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25.0, + "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.cam_right_wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25.0, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "states": { + "dtype": "float32", + "shape": [ + 30 + ], + "name": [ + "right_arm_joint_1", + "right_arm_joint_2", + "right_arm_joint_3", + "right_arm_joint_4", + "right_arm_joint_5", + "right_arm_joint_6", + "right_arm_joint_7", + "right_gripper_joint", + "right_end_effector_positions_x", + "right_end_effector_positions_y", + "right_end_effector_positions_z", + "right_end_effector_quat_x", + "right_end_effector_quat_y", + "right_end_effector_quat_z", + "right_end_effector_quat_w", + "left_arm_joint_1", + "left_arm_joint_2", + "left_arm_joint_3", + "left_arm_joint_4", + "left_arm_joint_5", + "left_arm_joint_6", + "left_arm_joint_7", + "left_gripper_joint", + "left_end_effector_positions_x", + "left_end_effector_positions_y", + "left_end_effector_positions_z", + "left_end_effector_quat_x", + "left_end_effector_quat_y", + "left_end_effector_quat_z", + "left_end_effector_quat_w" + ] + }, + "actions": { + "dtype": "float32", + "shape": [ + 30 + ], + "name": [ + "right_arm_joint_1", + "right_arm_joint_2", + "right_arm_joint_3", + "right_arm_joint_4", + "right_arm_joint_5", + "right_arm_joint_6", + "right_arm_joint_7", + "right_gripper_joint", + "right_end_effector_positions_x", + "right_end_effector_positions_y", + "right_end_effector_positions_z", + "right_end_effector_quat_x", + "right_end_effector_quat_y", + "right_end_effector_quat_z", + "right_end_effector_quat_w", + "left_arm_joint_1", + "left_arm_joint_2", + "left_arm_joint_3", + "left_arm_joint_4", + "left_arm_joint_5", + "left_arm_joint_6", + "left_arm_joint_7", + "left_gripper_joint", + "left_end_effector_positions_x", + "left_end_effector_positions_y", + "left_end_effector_positions_z", + "left_end_effector_quat_x", + "left_end_effector_quat_y", + "left_end_effector_quat_z", + "left_end_effector_quat_w" + ] + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "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 + +``` \ No newline at end of file diff --git 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data/*/*.parquet +authors: + contributed_by: + - name: RobotCoin + url: https://RobotCoin.github.io + annotated_by: + - name: RobotCoin + url: https://RobotCoin.github.io +dataset_description: This dataset uses an extended format based on [LeRobot](https://github.com/huggingface/lerobot) + and is fully compatible with LeRobot. +links: + Homepage: https://RobotCoin.github.io/ + Paper: in comming + License: apache-2.0 +tasks: +- build blocks +sub_tasks: +- Grasp the arch-shaped block with the left gripper +- Grasp the arch-shaped block with the right gripper +- Grasp the box-shaped block with the left gripper +- Grasp the box-shaped block with the right gripper +- Grasp the triangle-shaped block with the left gripper +- Grasp the triangle-shaped block with the right gripper +- Place the arch-shaped block in the center of view with the left gripper +- Place the arch-shaped block in the center of view with the right gripper +- Place the box-shaped block onto the arch-shaped block with the left gripper +- Place the box-shaped block onto the arch-shaped block with the right gripper +- Place the triangle-shaped block onto the box-shaped block with the left gripper +- Place the triangle-shaped block onto the box-shaped block with the right gripper +- end +episodes_num: 0 +frames_num: 0 +dataset_tags: + 场景类型: + - 卧室 + - 学校 + - 客厅 + 采集本体: realman + 末端类型: 二指夹爪 + 相机数量: 3 + 相机类型: + - RGBD + - fisheye + 声音传感器数量: 0 + 触觉传感器数量: 0 + 原子动作: + - 抓 + - 拿 + - 放 + - 堆叠 + - 移动 + 物品: + level1: 玩具 + level2: 积木 + level3: 拱形积木 + level4: null + level5: null + 桌面高度: 77.2cm +structure: + file: meta/info.json + content: "{\n \"codebase_version\": \"v2.1\",\n \"robot_type\": \"realman\"\ + ,\n \"total_episodes\": 498,\n \"total_frames\": 595002,\n \"total_tasks\"\ + : 1,\n \"total_videos\": 1494,\n \"total_chunks\": 1,\n \"chunks_size\"\ + : 1000,\n \"fps\": 25,\n \"splits\": {\n \"train\": \"0:498\"\n \ + \ },\n \"data_path\": \"data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet\"\ 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