2 episodes · 10 fps · 1 camera · 1280×720 av1
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 10,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
62
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"names": [
"right_ee.x",
"right_ee.y",
"right_ee.z",
"right_ee.qx",
"right_ee.qy",
"right_ee.qz",
"right_ee.qw",
"left_ee.x",
"left_ee.y",
"left_ee.z",
"left_ee.qx",
"left_ee.qy",
"left_ee.qz",
"left_ee.qw",
"head.qx",
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"head.qz",
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"ft.fx",
"ft.fy",
"ft.fz",
"ft.tx",
"ft.ty",
"ft.tz",
"gaze.u",
"gaze.v",
"gaze.score",
"ft_tare.done",
"ft_tare.fx",
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"ft_tare.tx",
"ft_tare.ty",
"ft_tare.tz",
"torso_roll.pos",
"torso_pitch.pos",
"torso_yaw.pos",
"neck_pitch.pos",
"neck_roll.pos",
"neck_yaw.pos",
"r_shoulder_pitch.pos",
"r_shoulder_roll.pos",
"r_shoulder_yaw.pos",
"r_elbow.pos",
"r_wrist_yaw.pos",
"r_wrist_roll.pos",
"r_wrist_pitch.pos",
"r_thumb_add.pos",
"r_thumb_oc.pos",
"r_index_add.pos",
"r_index_oc.pos",
"r_middle_oc.pos",
"r_ring_pinky_oc.pos",
"compliant.right_ee.x",
"compliant.right_ee.y",
"compliant.right_ee.z",
"compliant.right_ee.qx",
"compliant.right_ee.qy",
"compliant.right_ee.qz",
"compliant.right_ee.qw"
]
},
"observation.images.image": {
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"shape": [
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3
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"names": [
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"info": {
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"video.height": 720,
"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 10,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
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"left_ee.x",
"left_ee.y",
"left_ee.z",
"left_ee.qx",
"left_ee.qy",
"left_ee.qz",
"left_ee.qw",
"head.qx",
"head.qy",
"head.qz",
"head.qw",
"right_hand.aperture",
"left_hand.aperture",
"enabled"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
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"names": null
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"episode_index": {
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"names": null
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"index": {
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"task_index": {
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}
},
"total_episodes": 2,
"total_frames": 558,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": "ergocub",
"splits": {
"train": "0:2"
}
}
Citation
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