| --- |
| 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] |
| ``` |
