Wen-Yu/20260318_picknplace_sim

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "emily_isaac",
    "total_episodes": 49,
    "total_frames": 21377,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:49"
    },
    "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.images.head": {
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            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left_wrist": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float64",
            "shape": [
                7
            ],
            "names": [
                "position.ra_shoulder_pan_joint",
                "position.ra_shoulder_lift_joint",
                "position.ra_elbow_joint",
                "position.ra_wrist_1_joint",
                "position.ra_wrist_2_joint",
                "position.ra_wrist_3_joint",
                "position.ra_robotiq_85_right_knuckle_joint"
            ]
        },
        "action": {
            "dtype": "float64",
            "shape": [
                7
            ],
            "names": [
                "ra_isaac_joint_command.position.ra_shoulder_pan_joint",
                "ra_isaac_joint_command.position.ra_shoulder_lift_joint",
                "ra_isaac_joint_command.position.ra_elbow_joint",
                "ra_isaac_joint_command.position.ra_wrist_1_joint",
                "ra_isaac_joint_command.position.ra_wrist_2_joint",
                "ra_isaac_joint_command.position.ra_wrist_3_joint",
                "ra_gripper_cmd.point.x"
            ]
        },
        "is_first": {
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                1
            ],
            "names": null
        },
        "is_last": {
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            ],
            "names": null
        },
        "is_terminal": {
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        },
        "timestamp": {
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            "names": null
        },
        "frame_index": {
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            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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