| --- |
| 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). |
|
|
| ## Dataset Description |
|
|
|
|
|
|
| - **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": null, |
| "total_episodes": 3, |
| "total_frames": 520, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 20, |
| "splits": { |
| "train": "0:3" |
| }, |
| "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": { |
| "qpos": { |
| "dtype": "float32", |
| "shape": [ |
| 17 |
| ], |
| "names": { |
| "motors": [ |
| "left_yaw", |
| "left_pitch", |
| "left_elbow", |
| "left_wrist_pitch", |
| "left_wrist_yaw", |
| "left_roll", |
| "left_gripper", |
| "right_yaw", |
| "right_pitch", |
| "right_elbow", |
| "right_wrist_pitch", |
| "right_wrist_yaw", |
| "right_roll", |
| "right_gripper", |
| "base_linear_x", |
| "base_linear_y", |
| "base_angular_z" |
| ] |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 23 |
| ], |
| "names": { |
| "motors": [ |
| "left_x", |
| "left_y", |
| "left_z", |
| "left_r6d_c1x", |
| "left_r6d_c1y", |
| "left_r6d_c1z", |
| "left_r6d_c2x", |
| "left_r6d_c2y", |
| "left_r6d_c2z", |
| "left_gripper", |
| "right_x", |
| "right_y", |
| "right_z", |
| "right_r6d_c1x", |
| "right_r6d_c1y", |
| "right_r6d_c1z", |
| "right_r6d_c2x", |
| "right_r6d_c2y", |
| "right_r6d_c2z", |
| "right_gripper", |
| "base_linear_x", |
| "base_linear_y", |
| "base_angular_z" |
| ] |
| } |
| }, |
| "observation.images.front": { |
| "dtype": "video", |
| "shape": [ |
| 240, |
| 320, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 30.0, |
| "video.height": 240, |
| "video.width": 320, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist_left": { |
| "dtype": "video", |
| "shape": [ |
| 240, |
| 320, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 30.0, |
| "video.height": 240, |
| "video.width": 320, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist_right": { |
| "dtype": "video", |
| "shape": [ |
| 240, |
| 320, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 30.0, |
| "video.height": 240, |
| "video.width": 320, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 23 |
| ], |
| "names": { |
| "motors": [ |
| "left_x", |
| "left_y", |
| "left_z", |
| "left_r6d_c1x", |
| "left_r6d_c1y", |
| "left_r6d_c1z", |
| "left_r6d_c2x", |
| "left_r6d_c2y", |
| "left_r6d_c2z", |
| "left_gripper", |
| "right_x", |
| "right_y", |
| "right_z", |
| "right_r6d_c1x", |
| "right_r6d_c1y", |
| "right_r6d_c1z", |
| "right_r6d_c2x", |
| "right_r6d_c2y", |
| "right_r6d_c2z", |
| "right_gripper", |
| "cmd_vel_x", |
| "cmd_vel_y", |
| "cmd_vel_wz" |
| ] |
| } |
| }, |
| "action_quat": { |
| "dtype": "float32", |
| "shape": [ |
| 19 |
| ], |
| "names": { |
| "motors": [ |
| "left_x", |
| "left_y", |
| "left_z", |
| "left_qx", |
| "left_qy", |
| "left_qz", |
| "left_qw", |
| "left_gripper", |
| "right_x", |
| "right_y", |
| "right_z", |
| "right_qx", |
| "right_qy", |
| "right_qz", |
| "right_qw", |
| "right_gripper", |
| "cmd_vel_x", |
| "cmd_vel_y", |
| "cmd_vel_wz" |
| ] |
| } |
| }, |
| "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] |
| ``` |
