naavox/grip_2

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                11
            ],
            "names": [
                "vel_x",
                "vel_y",
                "vel_z",
                "room_vel_x",
                "room_vel_y",
                "wrist_speed",
                "finger_speed",
                "contact_vec_x",
                "contact_vec_y",
                "contact_vec_z",
                "episode_end"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "gripper_pos_x",
                "gripper_pos_y",
                "gripper_pos_z",
                "spin",
                "finger_angle",
                "laser_rangefinder",
                "finger_pressure",
                "wrist_angle",
                "target_force"
            ]
        },
        "observation.images.gripper_camera": {
            "dtype": "video",
            "shape": [
                256,
                448,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 256,
                "video.width": 448,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "is_depth_map": false,
                "video.fast_decode": null,
                "video.video_backend": "pyav",
                "video.g": null,
                "video.crf": null,
                "video.preset": null,
                "video.extra_options": null
            }
        },
        "observation.images.overhead_camera": {
            "dtype": "video",
            "shape": [
                512,
                512,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 512,
                "video.width": 512,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "anchor_poses": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "anchor_0_rx",
                "anchor_0_ry",
                "anchor_0_rz",
                "anchor_0_x",
                "anchor_0_y",
                "anchor_0_z",
                "anchor_1_rx",
                "anchor_1_ry",
                "anchor_1_rz",
                "anchor_1_x",
                "anchor_1_y",
                "anchor_1_z"
            ]
        },
        "anchor_cam_tilt": {
            "dtype": "float32",
            "shape": [
                2
            ],
            "names": [
                "anchor_0_cam_tilt",
                "anchor_1_cam_tilt"
            ]
        },
        "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
        }
    },
    "total_episodes": 30,
    "total_frames": 16924,
    "total_tasks": 2,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 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",
    "robot_type": "stringman",
    "splits": {
        "train": "0:30"
    }
}

Citation

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