gribes02/tacto_lerobot

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": null,
    "total_episodes": 2,
    "total_frames": 2447,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": {
        "observation.left.pose.position": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "x",
                "y",
                "z"
            ]
        },
        "observation.left.pose.orientation": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": [
                "w",
                "x",
                "y",
                "z"
            ]
        },
        "observation.left.wrench.force": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "fx",
                "fy",
                "fz"
            ]
        },
        "observation.left.wrench.torque": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "tx",
                "ty",
                "tz"
            ]
        },
        "observation.left.images.exterior": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "action.left.twist.linear": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "vx",
                "vy",
                "vz"
            ]
        },
        "action.left.twist.angular": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "wx",
                "wy",
                "wz"
            ]
        },
        "action.left.gripper.width": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "width"
            ]
        },
        "observation.right.pose.position": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "x",
                "y",
                "z"
            ]
        },
        "observation.right.pose.orientation": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": [
                "w",
                "x",
                "y",
                "z"
            ]
        },
        "observation.right.wrench.force": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "fx",
                "fy",
                "fz"
            ]
        },
        "observation.right.wrench.torque": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "tx",
                "ty",
                "tz"
            ]
        },
        "observation.right.images.exterior": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "action.right.twist.linear": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "vx",
                "vy",
                "vz"
            ]
        },
        "action.right.twist.angular": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "wx",
                "wy",
                "wz"
            ]
        },
        "action.right.gripper.width": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "width"
            ]
        },
        "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:

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