| --- |
| 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=PL2011/record-test"> |
| <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": "romoya_lebai_follower", |
| "total_episodes": 2, |
| "total_frames": 1903, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:2" |
| }, |
| "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": { |
| "action": { |
| "dtype": "float32", |
| "names": [ |
| "joint1.pos", |
| "joint2.pos", |
| "joint3.pos", |
| "joint4.pos", |
| "joint5.pos", |
| "joint6.pos", |
| "gripper.pos", |
| "gripper.force", |
| "DO_0", |
| "DO_1", |
| "joint1.effort", |
| "joint2.effort", |
| "joint3.effort", |
| "joint4.effort", |
| "joint5.effort", |
| "joint6.effort", |
| "joint1.vel", |
| "joint2.vel", |
| "joint3.vel", |
| "joint4.vel", |
| "joint5.vel", |
| "joint6.vel", |
| "joint1.acc", |
| "joint2.acc", |
| "joint3.acc", |
| "joint4.acc", |
| "joint5.acc", |
| "joint6.acc", |
| "joint1.temp", |
| "joint1.voltage", |
| "joint2.temp", |
| "joint2.voltage", |
| "joint3.temp", |
| "joint3.voltage", |
| "joint4.temp", |
| "joint4.voltage", |
| "joint5.temp", |
| "joint5.voltage", |
| "joint6.temp", |
| "joint6.voltage", |
| "flange_voltage", |
| "tcp.x", |
| "tcp.y", |
| "tcp.z", |
| "tcp.rx", |
| "tcp.ry", |
| "tcp.rz" |
| ], |
| "shape": [ |
| 47 |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "names": [ |
| "joint1.pos", |
| "joint2.pos", |
| "joint3.pos", |
| "joint4.pos", |
| "joint5.pos", |
| "joint6.pos", |
| "gripper.pos", |
| "gripper.force", |
| "DO_0", |
| "DO_1", |
| "joint1.effort", |
| "joint2.effort", |
| "joint3.effort", |
| "joint4.effort", |
| "joint5.effort", |
| "joint6.effort", |
| "joint1.vel", |
| "joint2.vel", |
| "joint3.vel", |
| "joint4.vel", |
| "joint5.vel", |
| "joint6.vel", |
| "joint1.acc", |
| "joint2.acc", |
| "joint3.acc", |
| "joint4.acc", |
| "joint5.acc", |
| "joint6.acc", |
| "tcp.x", |
| "tcp.y", |
| "tcp.z", |
| "tcp.rx", |
| "tcp.ry", |
| "tcp.rz", |
| "joint1.temp", |
| "joint2.temp", |
| "joint3.temp", |
| "joint4.temp", |
| "joint5.temp", |
| "joint6.temp", |
| "joint1.voltage", |
| "joint2.voltage", |
| "joint3.voltage", |
| "joint4.voltage", |
| "joint5.voltage", |
| "joint6.voltage", |
| "flange_voltage", |
| "flange.x", |
| "flange.y", |
| "flange.z", |
| "flange.rx", |
| "flange.ry", |
| "flange.rz", |
| "target_joint1.pos", |
| "target_joint2.pos", |
| "target_joint3.pos", |
| "target_joint4.pos", |
| "target_joint5.pos", |
| "target_joint6.pos", |
| "target_joint1.vel", |
| "target_joint2.vel", |
| "target_joint3.vel", |
| "target_joint4.vel", |
| "target_joint5.vel", |
| "target_joint6.vel", |
| "target_joint1.acc", |
| "target_joint2.acc", |
| "target_joint3.acc", |
| "target_joint4.acc", |
| "target_joint5.acc", |
| "target_joint6.acc", |
| "target_joint1.effort", |
| "target_joint2.effort", |
| "target_joint3.effort", |
| "target_joint4.effort", |
| "target_joint5.effort", |
| "target_joint6.effort", |
| "target_tcp.x", |
| "target_tcp.y", |
| "target_tcp.z", |
| "target_tcp.rx", |
| "target_tcp.ry", |
| "target_tcp.rz" |
| ], |
| "shape": [ |
| 83 |
| ] |
| }, |
| "observation.images.wrist": { |
| "dtype": "video", |
| "shape": [ |
| 1080, |
| 1920, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 1080, |
| "video.width": 1920, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.top": { |
| "dtype": "video", |
| "shape": [ |
| 1080, |
| 1920, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 1080, |
| "video.width": 1920, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.side": { |
| "dtype": "video", |
| "shape": [ |
| 1080, |
| 1920, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 1080, |
| "video.width": 1920, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "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] |
| ``` |
