diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..0a3472f66037f2bc0f0314184d642c1c2f426b24 --- /dev/null +++ b/README.md @@ -0,0 +1,170 @@ +# put_rubbish_in_bin__relative + +Generated RLBench -> LeRobot v2.1 dataset. + `meta/info.json`: +```json +{ + "dataset_name": "put_rubbish_in_bin__relative", + "codebase_version": "v2.1", + "robot_type": "franka", + "total_episodes": 100, + "chunks_size": 100, + "total_frames": 15497, + "total_tasks": 1, + "total_videos": 500, + "fps": 10, + "splits": { + "train": "0:100" + }, + "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", + "camera_keys": [ + "left_shoulder_rgb", + "right_shoulder_rgb", + "front_rgb", + "wrist_rgb", + "overhead_rgb" + ], + "features": { + "observation.state": { + "dtype": "float32", + "shape": [ + 8 + ], + "names": [ + "x", + "y", + "z", + "qx", + "qy", + "qz", + "qw", + "gripper" + ], + "description": "End-effector position (x,y,z), orientation (qx,qy,qz,qw) and gripper state (0.0 closed, 1.0 open)." + }, + "action": { + "dtype": "float32", + "shape": [ + 8 + ], + "names": [ + "x", + "y", + "z", + "qx", + "qy", + "qz", + "qw", + "gripper" + ], + "description": "Action applied at each step, in Quaternion representation + gripper (0.0 close, 1.0 open)." + }, + "observation.images.left_shoulder_rgb": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 10, + "video.height": 256, + "video.width": 256, + "video.channels": 3, + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.right_shoulder_rgb": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 10, + "video.height": 256, + "video.width": 256, + "video.channels": 3, + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.front_rgb": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 10, + "video.height": 256, + "video.width": 256, + "video.channels": 3, + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.wrist_rgb": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 10, + "video.height": 256, + "video.width": 256, + "video.channels": 3, + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.overhead_rgb": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 10, + "video.height": 256, + "video.width": 256, + "video.channels": 3, + "video.is_depth_map": false, + "has_audio": false + } + } + } +} +``` diff 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