metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
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": "v3.0",
"robot_type": null,
"total_episodes": 5125,
"total_frames": 829182,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:5125"
},
"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": [
83
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"tcp_x",
"tcp_y",
"tcp_z",
"joint_vel_0",
"joint_vel_1",
"joint_vel_2",
"joint_vel_3",
"joint_vel_4",
"joint_vel_5",
"tcp_rx",
"tcp_ry",
"tcp_rz",
"tcp_a",
"tcp_b",
"tcp_c",
"motor_current_0",
"motor_current_1",
"motor_current_2",
"motor_current_3",
"motor_current_4",
"motor_current_5",
"motor_torque_0",
"motor_torque_1",
"motor_torque_2",
"motor_torque_3",
"motor_torque_4",
"motor_torque_5",
"motor_temp_0",
"motor_temp_1",
"motor_temp_2",
"motor_temp_3",
"motor_temp_4",
"motor_temp_5",
"setpoint_pos_0",
"setpoint_pos_1",
"setpoint_pos_2",
"setpoint_pos_3",
"setpoint_pos_4",
"setpoint_pos_5",
"cart_accel_x",
"cart_accel_y",
"cart_accel_z",
"cart_accel_abs",
"speed_override",
"process_state",
"digital_output_1",
"digital_output_2",
"digital_output_3",
"digital_output_4",
"digital_output_5",
"digital_output_6",
"digital_output_7",
"digital_output_8",
"digital_output_9",
"digital_output_10",
"digital_output_11",
"digital_output_12",
"digital_output_13",
"digital_output_14",
"digital_output_15",
"digital_output_16",
"digital_input_1",
"digital_input_2",
"digital_input_3",
"digital_input_4",
"digital_input_5",
"digital_input_6",
"digital_input_7",
"digital_input_8",
"digital_input_9",
"digital_input_10",
"digital_input_11",
"digital_input_12",
"digital_input_13",
"digital_input_14",
"digital_input_15",
"digital_input_16"
]
},
"observation.images.cam_2d": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_3d": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"safety_mode": {
"dtype": "float32",
"shape": [
1
],
"names": [
"safety_mode"
]
},
"task_phase": {
"dtype": "float32",
"shape": [
1
],
"names": [
"task_phase"
]
},
"fault": {
"dtype": "float32",
"shape": [
1
],
"names": [
"fault"
]
},
"skill_index": {
"dtype": "float32",
"shape": [
1
],
"names": [
"skill_index"
]
},
"robot": {
"dtype": "float32",
"shape": [
1
],
"names": [
"robot"
]
},
"fault_id": {
"dtype": "float32",
"shape": [
1
],
"names": [
"fault_id"
]
},
"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]