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--- |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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tags: |
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- LeRobot |
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configs: |
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- config_name: default |
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data_files: data/*/*.parquet |
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--- |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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## Dataset Description |
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- **Homepage:** [More Information Needed] |
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- **Paper:** [More Information Needed] |
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- **License:** apache-2.0 |
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## Dataset Structure |
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[meta/info.json](meta/info.json): |
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```json |
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{ |
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"codebase_version": "v3.0", |
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"robot_type": "franka", |
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"total_episodes": 11, |
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"total_frames": 8765, |
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"total_tasks": 1, |
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"chunks_size": 1000, |
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"fps": 15, |
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"splits": { |
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"train": "0:11" |
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}, |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
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"features": { |
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"observation.images.primary": { |
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"dtype": "video", |
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"shape": [ |
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256, |
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256, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channels" |
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], |
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"video_info": { |
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"video.fps": 30.0, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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}, |
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"info": { |
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"video.height": 256, |
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"video.width": 256, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 15, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"observation.images.tactile": { |
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"dtype": "video", |
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"shape": [ |
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256, |
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256, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channels" |
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], |
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"video_info": { |
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"video.fps": 30.0, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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}, |
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"info": { |
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"video.height": 256, |
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"video.width": 256, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 15, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"observation.images.wrist": { |
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"dtype": "video", |
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"shape": [ |
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256, |
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256, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channels" |
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], |
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"video_info": { |
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"video.fps": 30.0, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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}, |
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"info": { |
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"video.height": 256, |
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"video.width": 256, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 15, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"observation.state.cartesian": { |
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"dtype": "float32", |
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"shape": [ |
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6 |
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], |
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"names": [ |
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"x", |
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"y", |
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"z", |
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"roll", |
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"pitch", |
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"yaw" |
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], |
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"fps": 15 |
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}, |
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"observation.state.gripper": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": [ |
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"gripper" |
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], |
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"fps": 15 |
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}, |
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"observation.state.joints": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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], |
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"names": [ |
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"joint_0", |
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"joint_1", |
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"joint_2", |
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"joint_3", |
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"joint_4", |
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"joint_5", |
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"joint_6" |
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], |
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"fps": 15 |
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}, |
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"observation.state.sensors_ft_sensor": { |
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"dtype": "float32", |
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"shape": [ |
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6 |
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], |
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"names": [ |
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"sensors_ft_sensor_0", |
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"sensors_ft_sensor_1", |
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"sensors_ft_sensor_2", |
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"sensors_ft_sensor_3", |
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"sensors_ft_sensor_4", |
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"sensors_ft_sensor_5" |
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], |
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"fps": 15 |
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}, |
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"observation.state.sensors_tactile_sensor": { |
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"dtype": "float32", |
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"shape": [ |
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15 |
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], |
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"names": [ |
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"sensors_tactile_sensor_0", |
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"sensors_tactile_sensor_1", |
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"sensors_tactile_sensor_2", |
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"sensors_tactile_sensor_3", |
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"sensors_tactile_sensor_4", |
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"sensors_tactile_sensor_5", |
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"sensors_tactile_sensor_6", |
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"sensors_tactile_sensor_7", |
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"sensors_tactile_sensor_8", |
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"sensors_tactile_sensor_9", |
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"sensors_tactile_sensor_10", |
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"sensors_tactile_sensor_11", |
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"sensors_tactile_sensor_12", |
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"sensors_tactile_sensor_13", |
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"sensors_tactile_sensor_14" |
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], |
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"fps": 15 |
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}, |
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"observation.state.target": { |
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"dtype": "float32", |
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"shape": [ |
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6 |
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], |
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"names": [ |
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"target_x", |
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"target_y", |
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"target_z", |
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"target_roll", |
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"target_pitch", |
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"target_yaw" |
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], |
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"fps": 15 |
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}, |
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"observation.state": { |
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"dtype": "float32", |
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"shape": [ |
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41 |
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], |
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"names": [ |
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"x", |
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"y", |
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"z", |
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"roll", |
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"pitch", |
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"yaw", |
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"gripper", |
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"joint_0", |
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"joint_1", |
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"joint_2", |
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"joint_3", |
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"joint_4", |
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"joint_5", |
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"joint_6", |
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"sensors_ft_sensor_0", |
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"sensors_ft_sensor_1", |
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"sensors_ft_sensor_2", |
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"sensors_ft_sensor_3", |
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"sensors_ft_sensor_4", |
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"sensors_ft_sensor_5", |
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"sensors_tactile_sensor_0", |
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"sensors_tactile_sensor_1", |
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"sensors_tactile_sensor_2", |
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"sensors_tactile_sensor_3", |
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"sensors_tactile_sensor_4", |
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"sensors_tactile_sensor_5", |
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"sensors_tactile_sensor_6", |
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"sensors_tactile_sensor_7", |
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"sensors_tactile_sensor_8", |
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"sensors_tactile_sensor_9", |
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"sensors_tactile_sensor_10", |
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"sensors_tactile_sensor_11", |
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"sensors_tactile_sensor_12", |
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"sensors_tactile_sensor_13", |
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"sensors_tactile_sensor_14", |
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"target_x", |
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"target_y", |
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"target_z", |
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"target_roll", |
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"target_pitch", |
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"target_yaw" |
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], |
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"fps": 15 |
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}, |
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"action": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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], |
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"names": [ |
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"x", |
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"y", |
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"z", |
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"roll", |
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"pitch", |
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"yaw", |
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"gripper" |
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], |
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"fps": 15 |
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}, |
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"timestamp": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null, |
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"fps": 15 |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null, |
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"fps": 15 |
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}, |
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"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null, |
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"fps": 15 |
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}, |
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"index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null, |
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"fps": 15 |
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}, |
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"task_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null, |
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"fps": 15 |
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} |
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}, |
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"data_files_size_in_mb": 100, |
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"video_files_size_in_mb": 500 |
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} |
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``` |
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## Citation |
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**BibTeX:** |
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```bibtex |
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[More Information Needed] |
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``` |
