Datasets:
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",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7",
"motor_delta_1",
"motor_delta_2",
"motor_delta_3",
"motor_delta_4",
"motor_delta_5",
"motor_delta_6",
"motor_delta_7",
"target_x",
"target_y",
"target_z",
"target_r",
"target_gripper",
"dx",
"dy",
"dz",
"world_dx",
"world_dy",
"world_dz",
"dr",
"gripper_cmd",
"touch_dx",
"touch_dy",
"touch_dz",
"touch_dyaw",
"touch_dpitch",
"touch_droll",
"button1",
"button2",
"type"
],
"shape": [
36
]
},
"observation.state": {
"dtype": "float32",
"names": [
"fk_x",
"fk_y",
"fk_z",
"fk_r",
"gripper_state",
"motor_feedback_1",
"motor_feedback_2",
"motor_feedback_3",
"motor_feedback_4",
"motor_feedback_5",
"motor_feedback_6",
"motor_feedback_7",
"motor_feedback_delta_1",
"motor_feedback_delta_2",
"motor_feedback_delta_3",
"motor_feedback_delta_4",
"motor_feedback_delta_5",
"motor_feedback_delta_6",
"motor_feedback_delta_7",
"pmac_readback_age_s",
"touch_x",
"touch_y",
"touch_z",
"touch_gimbal_x",
"touch_gimbal_y",
"touch_gimbal_z",
"ndi_raw_x",
"ndi_raw_y",
"ndi_raw_z",
"ndi_world_x",
"ndi_world_y",
"ndi_world_z",
"ndi_tip_world_x",
"ndi_tip_world_y",
"ndi_tip_world_z",
"ndi_raw_qx",
"ndi_raw_qy",
"ndi_raw_qz",
"ndi_raw_qw",
"ndi_world_qx",
"ndi_world_qy",
"ndi_world_qz",
"ndi_world_qw",
"ndi_tip_world_qx",
"ndi_tip_world_qy",
"ndi_tip_world_qz",
"ndi_tip_world_qw",
"ndi_tip_dir_world_x",
"ndi_tip_dir_world_y",
"ndi_tip_dir_world_z",
"ndi_r",
"ndi_dr",
"ndi_delta_dr",
"ndi_indicator",
"ndi_frame",
"ndi_valid",
"ndi_tip_valid",
"ndi_age_s"
],
"shape": [
58
]
},
"observation.images.Cam1_global": {
"dtype": "video",
"shape": [
960,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"video.height": 960,
"video.width": 960,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.Cam2_global": {
"dtype": "video",
"shape": [
960,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"video.height": 960,
"video.width": 960,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.Cam3_global": {
"dtype": "video",
"shape": [
960,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"video.height": 960,
"video.width": 960,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.Cam4_global": {
"dtype": "video",
"shape": [
960,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"video.height": 960,
"video.width": 960,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.Cam5_global": {
"dtype": "video",
"shape": [
400,
400,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"video.height": 400,
"video.width": 400,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"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
}
},
"total_episodes": 232,
"total_frames": 98761,
"total_tasks": 4,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": "ctr_robot",
"splits": {
"train": "0:232"
}
}
Citation
BibTeX:
[More Information Needed]