| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - bimanual |
| - teleoperation |
| 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=K-vr/cube_stack3"> |
| <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 |
|
|
| Teleoperated bimanual demonstrations for: Stack the three cubes with the largest cube on the bottom, the mid sized cube in the middle, and the smallest cube on top.. Each frame contains follower joint state, commanded joint action, task text, and four RGB cameras, including the RealSense colour view. The dataset contains 120 episodes recorded at 30 FPS. |
|
|
| - **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", |
| "fps": 30, |
| "features": { |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "left_shoulder_pan.pos", |
| "left_shoulder_lift.pos", |
| "left_elbow_flex.pos", |
| "left_forearm_roll.pos", |
| "left_wrist_flex.pos", |
| "left_wrist_roll.pos", |
| "left_gripper.pos", |
| "right_shoulder_pan.pos", |
| "right_shoulder_lift.pos", |
| "right_elbow_flex.pos", |
| "right_forearm_roll.pos", |
| "right_wrist_flex.pos", |
| "right_wrist_roll.pos", |
| "right_gripper.pos" |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "left_shoulder_pan.pos", |
| "left_shoulder_lift.pos", |
| "left_elbow_flex.pos", |
| "left_forearm_roll.pos", |
| "left_wrist_flex.pos", |
| "left_wrist_roll.pos", |
| "left_gripper.pos", |
| "right_shoulder_pan.pos", |
| "right_shoulder_lift.pos", |
| "right_elbow_flex.pos", |
| "right_forearm_roll.pos", |
| "right_wrist_flex.pos", |
| "right_wrist_roll.pos", |
| "right_gripper.pos" |
| ] |
| }, |
| "observation.images.left_cam_left": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "is_depth_map": false, |
| "video.height": 480, |
| "video.width": 640, |
| "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": {} |
| } |
| }, |
| "observation.images.left_cam_scene": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "is_depth_map": false, |
| "video.height": 480, |
| "video.width": 640, |
| "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": {} |
| } |
| }, |
| "observation.images.right_cam_right": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "is_depth_map": false, |
| "video.height": 480, |
| "video.width": 640, |
| "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": {} |
| } |
| }, |
| "observation.images.right_cam_scene_realsense": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "is_depth_map": false, |
| "video.height": 480, |
| "video.width": 640, |
| "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": {} |
| } |
| }, |
| "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": 120, |
| "total_frames": 66920, |
| "total_tasks": 2, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 0.001, |
| "video_files_size_in_mb": 0.001, |
| "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": "bi_so_follower_7dof", |
| "splits": { |
| "train": "0:120" |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
