--- 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). ## 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", "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:** ```bibtex [More Information Needed] ```