| --- |
| 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": "v2.1", |
| "robot_type": null, |
| "total_episodes": 1, |
| "total_frames": 94, |
| "total_tasks": 1, |
| "total_videos": 5, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 30, |
| "splits": { |
| "train": "0:1" |
| }, |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
| "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
| "features": { |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 46 |
| ], |
| "names": [ |
| "joint_pos_left_0", |
| "joint_pos_left_1", |
| "joint_pos_left_2", |
| "joint_pos_left_3", |
| "joint_pos_left_4", |
| "joint_pos_left_5", |
| "joint_pos_left_6", |
| "joint_pos_right_0", |
| "joint_pos_right_1", |
| "joint_pos_right_2", |
| "joint_pos_right_3", |
| "joint_pos_right_4", |
| "joint_pos_right_5", |
| "joint_pos_right_6", |
| "tcp_left_pos_x", |
| "tcp_left_pos_y", |
| "tcp_left_pos_z", |
| "tcp_left_quat_x", |
| "tcp_left_quat_y", |
| "tcp_left_quat_z", |
| "tcp_left_quat_w", |
| "tcp_right_pos_x", |
| "tcp_right_pos_y", |
| "tcp_right_pos_z", |
| "tcp_right_quat_x", |
| "tcp_right_quat_y", |
| "tcp_right_quat_z", |
| "tcp_right_quat_w", |
| "gripper_left_0", |
| "gripper_left_1", |
| "gripper_right_0", |
| "gripper_right_1", |
| "last_command_left_0", |
| "last_command_left_1", |
| "last_command_left_2", |
| "last_command_left_3", |
| "last_command_left_4", |
| "last_command_left_5", |
| "last_command_left_6", |
| "last_command_right_0", |
| "last_command_right_1", |
| "last_command_right_2", |
| "last_command_right_3", |
| "last_command_right_4", |
| "last_command_right_5", |
| "last_command_right_6" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "delta_tcp_left_x", |
| "delta_tcp_left_y", |
| "delta_tcp_left_z", |
| "delta_tcp_left_rot_x", |
| "delta_tcp_left_rot_y", |
| "delta_tcp_left_rot_z", |
| "delta_tcp_right_x", |
| "delta_tcp_right_y", |
| "delta_tcp_right_z", |
| "delta_tcp_right_rot_x", |
| "delta_tcp_right_rot_y", |
| "delta_tcp_right_rot_z", |
| "gripper_left", |
| "gripper_right" |
| ] |
| }, |
| "observation.images.rgb_static": { |
| "dtype": "video", |
| "shape": [ |
| 640, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 640, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.rgb_left": { |
| "dtype": "video", |
| "shape": [ |
| 640, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 640, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.rgb_right": { |
| "dtype": "video", |
| "shape": [ |
| 640, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 640, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.depth_left": { |
| "dtype": "video", |
| "shape": [ |
| 640, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 640, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.depth_right": { |
| "dtype": "video", |
| "shape": [ |
| 640, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 640, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "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:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
