Episodes Preview nova_sim Visualizer
103 episodes · 20 fps · 1 camera · 240×160 av1

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "nova_sim",
    "total_episodes": 100,
    "total_frames": 6145,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:100"
    },
    "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": {
        "ee_x": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "ee_y": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "ee_z": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "ee_qw": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "ee_qx": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "ee_qy": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "ee_qz": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "target_x": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "target_y": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "target_z": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "target_roll": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "target_pitch": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "target_yaw": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "gripper": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "joint_0": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "joint_1": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "joint_2": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "joint_3": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "joint_4": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "joint_5": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "joint_target_0": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "joint_target_1": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "joint_target_2": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "joint_target_3": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "joint_target_4": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "joint_target_5": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "vx": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "vy": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20.0
        },
        "front": {
            "dtype": "video",
            "shape": [
                160,
                240,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "fps": 20.0,
            "info": {
                "video.height": 160,
                "video.width": 240,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "corner": {
            "dtype": "video",
            "shape": [
                160,
                240,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "fps": 20.0,
            "info": {
                "video.height": 160,
                "video.width": 240,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "ee_wrist": {
            "dtype": "video",
            "shape": [
                160,
                240,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "fps": 20.0,
            "info": {
                "video.height": 160,
                "video.width": 240,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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:

[More Information Needed]
Downloads last month
55