Datasets:

DAVIAN-Robotics
/

dh_tasks

	---
	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).


	<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=DAVIAN-Robotics/dh_tasks">
	<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
	<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
	</a>


	## 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": "v3.0",
	"robot_type": "franka",
	"total_episodes": 100,
	"total_frames": 31283,
	"total_tasks": 8,
	"chunks_size": 1000,
	"data_files_size_in_mb": 100,
	"video_files_size_in_mb": 200,
	"fps": 20,
	"splits": {
	"train": "0:100"
	},
	"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.state": {
	"dtype": "float32",
	"shape": [
	29
	],
	"names": {
	"axes": [
	"q_0",
	"q_1",
	"q_2",
	"q_3",
	"q_4",
	"q_5",
	"q_6",
	"qdot_0",
	"qdot_1",
	"qdot_2",
	"qdot_3",
	"qdot_4",
	"qdot_5",
	"qdot_6",
	"x",
	"y",
	"z",
	"qx",
	"qy",
	"qz",
	"qw",
	"vx",
	"vy",
	"vz",
	"wx",
	"wy",
	"wz",
	"gripper_position",
	"grasp_state"
	]
	}
	},
	"action": {
	"dtype": "float32",
	"shape": [
	8
	],
	"names": {
	"axes": [
	"x",
	"y",
	"z",
	"qx",
	"qy",
	"qz",
	"qw",
	"gripper"
	]
	}
	},
	"observation.images.left_back": {
	"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": 20,
	"video.channels": 3,
	"has_audio": false
	}
	},
	"observation.images.wrist": {
	"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": 20,
	"video.channels": 3,
	"has_audio": false
	}
	},
	"observation.images.right_back": {
	"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": 20,
	"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]
	```