| --- |
| 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](https://github.com/huggingface/lerobot). |
|
|
| ## 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": "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:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
