Datasets:
put_bread_toaster_floating_sharpa_scripted: 200 scripted Sharpa episodes (LeRobot v3.0)
897968d verified | { | |
| "codebase_version": "v3.0", | |
| "robot_type": null, | |
| "total_episodes": 200, | |
| "total_frames": 65523, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 20, | |
| "splits": { | |
| "train": "0:200" | |
| }, | |
| "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", | |
| "features": { | |
| "obs.state.gripper.qpos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 22 | |
| ] | |
| }, | |
| "obs.state.gripper.qtorque": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 22 | |
| ] | |
| }, | |
| "obs.state.gripper.qvel": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 22 | |
| ] | |
| }, | |
| "obs.state.gripper.tcp_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "obs.state.gripper.tcp_quat": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4 | |
| ] | |
| }, | |
| "reward": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "truncated": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "terminated": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "success": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "failure": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 29 | |
| ] | |
| }, | |
| "obs.state.manipulator.eef_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1, | |
| 3 | |
| ] | |
| }, | |
| "obs.state.manipulator.eef_quat": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1, | |
| 4 | |
| ] | |
| }, | |
| "obs.state.manipulator.qpos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "obs.state.manipulator.qtorque": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "obs.state.manipulator.qvel": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "obs.state.other.action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 29 | |
| ] | |
| }, | |
| "obs.state.other.dial_q": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "obs.state.other.last_action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 29 | |
| ] | |
| }, | |
| "obs.state.other.lever_frac": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "obs.state.other.lever_q": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "obs.state.other.toast_aabb_hi": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "obs.state.other.toast_aabb_lo": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "obs.state.other.toast_ang": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "obs.state.other.toast_in_slot": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "obs.state.other.toast_in_toaster_frame": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "obs.state.other.toast_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "obs.state.other.toast_quat": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4 | |
| ] | |
| }, | |
| "obs.state.other.toast_vel": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "obs.state.other.toaster_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "obs.state.other.toaster_quat": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4 | |
| ] | |
| }, | |
| "obs.cameras.front.rgb": { | |
| "dtype": "video", | |
| "shape": [ | |
| 224, | |
| 224, | |
| 3 | |
| ], | |
| "info": { | |
| "video.height": 224, | |
| "video.width": 224, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 20, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "obs.cameras.wrist.rgb": { | |
| "dtype": "video", | |
| "shape": [ | |
| 224, | |
| 224, | |
| 3 | |
| ], | |
| "info": { | |
| "video.height": 224, | |
| "video.width": 224, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 20, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "obs.state.other.finger_force_world": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 5, | |
| 3 | |
| ] | |
| }, | |
| "obs.state.other.finger_force_norm": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 5 | |
| ] | |
| }, | |
| "obs.state.other.finger_force_display": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 5 | |
| ] | |
| }, | |
| "obs.state.other.finger_force_saturated": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 5 | |
| ] | |
| }, | |
| "obs.state.other.finger_contact": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 5 | |
| ] | |
| }, | |
| "obs.state.other.controller_phase": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "obs.state.other.controller_stage": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "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 | |
| } | |
| }, | |
| "task": "put_bread_toaster", | |
| "options": null | |
| } |