| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - rgb-d |
| - point-cloud |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
|
|
| <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=Keith-Luo/press_button_mix"> |
| <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> |
| <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> |
| </a> |
|
|
|
|
| ## Dataset Description |
|
|
| QuestArmTeleop LeRobot v3 dataset. Point clouds are stored directly in Parquet as `observation.pointcloud.xyz` (float32 metres, shape [1024, 3], base_link), `observation.pointcloud.rgb` (uint8 RGB), and `observation.pointcloud.valid_mask`. They share the same row, frame index and timestamp as state/action. |
|
|
| - **Homepage:** [More Information Needed] |
| - **Paper:** [More Information Needed] |
| - **License:** apache-2.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "robot_type": "QuestArmTeleopDualArm", |
| "total_episodes": 98, |
| "total_frames": 48456, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:98" |
| }, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| "features": { |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 13 |
| ], |
| "names": [ |
| "vision.base_yaw", |
| "vision.shoulder_pitch", |
| "vision.elbow_pitch", |
| "vision.wrist_pitch", |
| "vision.wrist_yaw", |
| "vision.camera_roll", |
| "manip.joint1", |
| "manip.joint2", |
| "manip.joint3", |
| "manip.joint4", |
| "manip.joint5", |
| "manip.joint6", |
| "manip.gripper" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 13 |
| ], |
| "names": [ |
| "vision.base_yaw", |
| "vision.shoulder_pitch", |
| "vision.elbow_pitch", |
| "vision.wrist_pitch", |
| "vision.wrist_yaw", |
| "vision.camera_roll", |
| "manip.joint1", |
| "manip.joint2", |
| "manip.joint3", |
| "manip.joint4", |
| "manip.joint5", |
| "manip.joint6", |
| "manip.gripper" |
| ] |
| }, |
| "observation.images.rgb": { |
| "dtype": "video", |
| "shape": [ |
| 720, |
| 1280, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 720, |
| "video.width": 1280, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "source.camera_frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "frame_index" |
| ] |
| }, |
| "source.capture_time": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "seconds_from_first_camera_frame" |
| ] |
| }, |
| "source.cambot_camera_pose": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "qx", |
| "qy", |
| "qz", |
| "qw" |
| ] |
| }, |
| "source.cambot_color_optical_pose": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "qx", |
| "qy", |
| "qz", |
| "qw" |
| ] |
| }, |
| "source.cambot_pose_sync_gap": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "seconds" |
| ] |
| }, |
| "source.manip_tcp_pose": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "qx", |
| "qy", |
| "qz", |
| "qw" |
| ] |
| }, |
| "observation.pointcloud.xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 1024, |
| 3 |
| ], |
| "names": null |
| }, |
| "observation.pointcloud.rgb": { |
| "dtype": "uint8", |
| "shape": [ |
| 1024, |
| 3 |
| ], |
| "names": null |
| }, |
| "observation.pointcloud.valid_mask": { |
| "dtype": "bool", |
| "shape": [ |
| 1024 |
| ], |
| "names": null |
| }, |
| "source.pointcloud_valid_count": { |
| "dtype": "int32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "points" |
| ] |
| }, |
| "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] |
| ``` |
