Datasets:
metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- lego
- stacking
- franka
- real-world
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 300,
"total_frames": 23303,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:300"
},
"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": {
"observation.state.cartesian": {
"shape": [
6
],
"dtype": "float32",
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.state.joints": {
"shape": [
7
],
"dtype": "float32"
},
"observation.velocity.cartesian": {
"shape": [
3
],
"dtype": "float32",
"names": [
"vx",
"vy",
"vz"
]
},
"observation.error.cartesian": {
"shape": [
3
],
"dtype": "float32",
"names": [
"ex",
"ey",
"ez"
]
},
"observation.previous.action": {
"shape": [
3
],
"dtype": "float32",
"names": [
"prev_dx",
"prev_dy",
"prev_dz"
]
},
"observation.previous.error.cartesian": {
"shape": [
3
],
"dtype": "float32",
"names": [
"prev_ex",
"prev_ey",
"prev_ez"
]
},
"observation.state.sensors_bota_ft_sensor": {
"shape": [
6
],
"dtype": "float32",
"names": [
"fx",
"fy",
"fz",
"mx",
"my",
"mz"
]
},
"action": {
"shape": [
2
],
"dtype": "float32",
"names": [
"dx",
"dy"
]
},
"perfect_action": {
"shape": [
2
],
"dtype": "float32",
"names": [
"dx",
"dy"
]
},
"grasp_delta": {
"shape": [
3
],
"dtype": "float32",
"names": [
"grasp_dx",
"grasp_dy",
"grasp_dz"
]
},
"goal_position_delta": {
"shape": [
2
],
"dtype": "float32",
"names": [
"goal_dx",
"goal_dy"
]
},
"reward": {
"shape": [
1
],
"dtype": "float32"
},
"success": {
"shape": [
1
],
"dtype": "bool"
},
"is_terminal": {
"shape": [
1
],
"dtype": "bool"
},
"observation.features.wrist_camera": {
"shape": [
384
],
"dtype": "float32"
},
"observation.formatted": {
"shape": [
398
],
"dtype": "float32"
},
"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:
[More Information Needed]