CarolinePascal/test-community-normalized

1---2license: apache-2.03task_categories:4- robotics5tags:6- LeRobot7- so100_follower8configs:9- config_name: default10  data_files: data/*/*.parquet11---12 13This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).14 15 16<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=wannrrr/etnai">17<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>18<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>19</a>20 21 22## Dataset Description23 24 25 26- **Homepage:** [More Information Needed]27- **Paper:** [More Information Needed]28- **License:** apache-2.029 30## Dataset Structure31 32[meta/info.json](meta/info.json):33```json34{35    "codebase_version": "v3.0",36    "fps": 30,37    "features": {38        "action": {39            "dtype": "float32",40            "shape": [41                642            ],43            "names": [44                "shoulder_pan.pos",45                "shoulder_lift.pos",46                "elbow_flex.pos",47                "wrist_flex.pos",48                "wrist_roll.pos",49                "gripper.pos"50            ],51            "fps": 3052        },53        "observation.state": {54            "dtype": "float32",55            "shape": [56                657            ],58            "names": [59                "shoulder_pan.pos",60                "shoulder_lift.pos",61                "elbow_flex.pos",62                "wrist_flex.pos",63                "wrist_roll.pos",64                "gripper.pos"65            ],66            "fps": 3067        },68        "observation.images.image2": {69            "dtype": "video",70            "shape": [71                480,72                640,73                374            ],75            "names": [76                "height",77                "width",78                "channels"79            ],80            "info": {81                "video.height": 480,82                "video.width": 640,83                "video.codec": "av1",84                "video.pix_fmt": "yuv420p",85                "video.is_depth_map": false,86                "video.fps": 30,87                "video.channels": 3,88                "has_audio": false89            }90        },91        "observation.images.image": {92            "dtype": "video",93            "shape": [94                480,95                640,96                397            ],98            "names": [99                "height",100                "width",101                "channels"102            ],103            "info": {104                "video.height": 480,105                "video.width": 640,106                "video.codec": "av1",107                "video.pix_fmt": "yuv420p",108                "video.is_depth_map": false,109                "video.fps": 30,110                "video.channels": 3,111                "has_audio": false112            }113        },114        "timestamp": {115            "dtype": "float32",116            "shape": [117                1118            ],119            "names": null,120            "fps": 30121        },122        "frame_index": {123            "dtype": "int64",124            "shape": [125                1126            ],127            "names": null,128            "fps": 30129        },130        "episode_index": {131            "dtype": "int64",132            "shape": [133                1134            ],135            "names": null,136            "fps": 30137        },138        "index": {139            "dtype": "int64",140            "shape": [141                1142            ],143            "names": null,144            "fps": 30145        },146        "task_index": {147            "dtype": "int64",148            "shape": [149                1150            ],151            "names": null,152            "fps": 30153        }154    },155    "total_episodes": 50,156    "total_frames": 10061,157    "total_tasks": 1,158    "chunks_size": 1000,159    "data_files_size_in_mb": 100,160    "video_files_size_in_mb": 200,161    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",162    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",163    "robot_type": "so100_follower",164    "splits": {165        "train": "0:50"166    }167}168```169 170 171## Citation172 173**BibTeX:**174 175```bibtex176[More Information Needed]177```178 179## Migration to LeRobotDataset v3.0180 181Migrated to LeRobotDataset **v3.0** with SO-100/101 joint state/action mapped to the post-#777 physical frame (in degrees).182 183- Source: [`HuggingFaceVLA/community_dataset_v3`](https://huggingface.co/datasets/HuggingFaceVLA/community_dataset_v3/tree/main/wannrrr/etnai) (`wannrrr/etnai`)184- Codebase version: v2.1 -> v3.0185- Original joint encoding: normalized units (joints -100..100, gripper 0..100)186- Joint values: un-normalized to physical degrees using canonical joint ranges187- Robot type: `so100_follower`188- Action dimension: 6189