| --- |
| 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": "zbot_inspire", |
| "total_episodes": 1, |
| "total_frames": 394, |
| "total_tasks": 1, |
| "total_videos": 2, |
| "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": { |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 16 |
| ], |
| "names": [ |
| "zbot_left_shoulder_pitch.pos", |
| "zbot_left_shoulder_roll.pos", |
| "zbot_left_shoulder_yaw.pos", |
| "zbot_left_elbow.pos", |
| "zbot_left_wrist.pos", |
| "zbot_right_shoulder_pitch.pos", |
| "zbot_right_shoulder_roll.pos", |
| "zbot_right_shoulder_yaw.pos", |
| "zbot_right_elbow.pos", |
| "zbot_right_wrist.pos", |
| "hand_pinky.pos", |
| "hand_ring.pos", |
| "hand_middle.pos", |
| "hand_index.pos", |
| "hand_thumb.pos", |
| "hand_extra.pos" |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 26 |
| ], |
| "names": [ |
| "zbot_left_shoulder_pitch.pos", |
| "zbot_left_shoulder_pitch.vel", |
| "zbot_left_shoulder_roll.pos", |
| "zbot_left_shoulder_roll.vel", |
| "zbot_left_shoulder_yaw.pos", |
| "zbot_left_shoulder_yaw.vel", |
| "zbot_left_elbow.pos", |
| "zbot_left_elbow.vel", |
| "zbot_left_wrist.pos", |
| "zbot_left_wrist.vel", |
| "zbot_right_shoulder_pitch.pos", |
| "zbot_right_shoulder_pitch.vel", |
| "zbot_right_shoulder_roll.pos", |
| "zbot_right_shoulder_roll.vel", |
| "zbot_right_shoulder_yaw.pos", |
| "zbot_right_shoulder_yaw.vel", |
| "zbot_right_elbow.pos", |
| "zbot_right_elbow.vel", |
| "zbot_right_wrist.pos", |
| "zbot_right_wrist.vel", |
| "hand_pinky.pos", |
| "hand_ring.pos", |
| "hand_middle.pos", |
| "hand_index.pos", |
| "hand_thumb.pos", |
| "hand_extra.pos" |
| ] |
| }, |
| "observation.images.left": { |
| "dtype": "video", |
| "shape": [ |
| 960, |
| 1280, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 960, |
| "video.width": 1280, |
| "video.codec": "libdav1d", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.right": { |
| "dtype": "video", |
| "shape": [ |
| 960, |
| 1280, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 960, |
| "video.width": 1280, |
| "video.codec": "libdav1d", |
| "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] |
| ``` |
