swaaniida/floor-1ball

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "piper_tracer",
    "total_episodes": 49,
    "total_frames": 80293,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 50,
    "splits": {
        "train": "0:49"
    },
    "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.images.local": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.global": {
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            ],
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            ],
            "info": {
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                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "joint_1_rad",
                "joint_2_rad",
                "joint_3_rad",
                "joint_4_rad",
                "joint_5_rad",
                "joint_6_rad",
                "gripper_mm",
                "base_linear_mps",
                "base_angular_rad_s"
            ]
        },
        "action": {
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            "shape": [
                9
            ],
            "names": [
                "joint_1_rad",
                "joint_2_rad",
                "joint_3_rad",
                "joint_4_rad",
                "joint_5_rad",
                "joint_6_rad",
                "gripper_mm",
                "base_linear_mps",
                "base_angular_rad_s"
            ]
        },
        "observation.base_odometry": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "x_m",
                "y_m",
                "orientation_z",
                "orientation_w",
                "linear_mps",
                "angular_rad_s"
            ]
        },
        "observation.ee_pose_raw": {
            "dtype": "float32",
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            ],
            "names": [
                "x_0p001",
                "y_0p001",
                "z_0p001",
                "roll_0p001",
                "pitch_0p001",
                "yaw_0p001"
            ]
        },
        "observation.gripper_effort": {
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                1
            ],
            "names": [
                "effort"
            ]
        },
        "annotation.phase": {
            "dtype": "int64",
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            ],
            "names": [
                "phase_id"
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        },
        "annotation.control_source": {
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            "names": [
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        "timestamp": {
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        },
        "frame_index": {
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        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        },
        "task_index": {
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        }
    }
}

Citation

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