| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| 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=Lior-ACQU/Forgis"> |
| <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 |
|
|
|
|
|
|
| - **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", |
| "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:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
