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license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
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=arkojit1/mj_stack_red_yellow">
<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
Expert demonstrations of `stack the red block on the yellow block`, `stack the red block on the other`, `put the red block on top of the yellow block`, `put the red block on the other`, `stack the yellow block on the red block`, `stack the yellow block on the other`, `put the yellow block on top of the red block`, `put the yellow block on the other` in the mj_pick_block MuJoCo Franka Panda scene.
- **Source:** dataset recipe `stack_red_yellow` (`record_expert_dataset.py`)
- `stack_red_on_yellow`: 50 episodes
- `stack_yellow_on_red`: 50 episodes
- **Control rate:** 50 Hz
- **Frames:** `action.ee.delta_xyz` is a gripper-site translation in the MuJoCo world frame (meters). `action.ee.orientation` is the first two rows of the gripper site's **world-frame** rotation matrix (site axes expressed in world).
- **Observations:** `observation.image.front`, `observation.image.wrist` (224×224 RGB, MP4 under `videos/`); `observation.state` (`cartesian_position`: `x`, `y`, `z`, `gripper`) is world-frame end-effector xyz (gripper site, meters) plus gripper opening in `[0, 1]` (0 = closed, 1 = open)
- **Scene init:** repeated each frame; MuJoCo free-joint qpos `[x, y, z, qw, qx, qy, qz]` at episode start:
- `scene_init.block_red.pose`: shape (7,), names ['x', 'y', 'z', 'qw', 'qx', 'qy', 'qz']
- `scene_init.block_yellow.pose`: shape (7,), names ['x', 'y', 'z', 'qw', 'qx', 'qy', 'qz']
- **Gripper:** target opening in `[0, 1]` (0 = closed, 1 = open)
- **Recorded actions:**
- `action.ee.delta_xyz`: shape (3,), names ['dx', 'dy', 'dz']
- `action.ee.orientation`: shape (6,), names ['r00', 'r01', 'r02', 'r10', 'r11', 'r12']
- `action.joint.delta_angles`: shape (7,), names ['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7']
- `action.gripper.target`: shape (1,), names ['gripper']
- **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",
"fps": 50,
"features": {
"observation.image.front": {
"dtype": "video",
"shape": [
3,
224,
224
],
"names": [
"C",
"H",
"W"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 50,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.image.wrist": {
"dtype": "video",
"shape": [
3,
224,
224
],
"names": [
"C",
"H",
"W"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 50,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
4
],
"names": [
"x",
"y",
"z",
"gripper"
]
},
"action.ee.delta_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"dx",
"dy",
"dz"
]
},
"action.ee.orientation": {
"dtype": "float32",
"shape": [
6
],
"names": [
"r00",
"r01",
"r02",
"r10",
"r11",
"r12"
]
},
"action.joint.delta_angles": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint1",
"joint2",
"joint3",
"joint4",
"joint5",
"joint6",
"joint7"
]
},
"action.gripper.target": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"scene_init.block_red.pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qw",
"qx",
"qy",
"qz"
]
},
"scene_init.block_yellow.pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qw",
"qx",
"qy",
"qz"
]
},
"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
}
},
"total_episodes": 100,
"total_frames": 46585,
"total_tasks": 8,
"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": "panda",
"splits": {
"train": "0:100"
}
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
``` |