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": "v2.1",
"robot_type": "dual_arm_robot",
"total_episodes": 1,
"total_frames": 23534,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"observation.tf_transforms": {
"dtype": "string",
"shape": [
1
],
"names": [
"transforms"
]
},
"observation.robot_description_semantic_data": {
"dtype": "string",
"shape": [
1
],
"names": [
"data"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"arm2_robotiq_85_left_knuckle_joint",
"arm2_wrist_3_joint",
"arm2_wrist_2_joint",
"arm2_shoulder_lift_joint",
"arm2_elbow_joint",
"arm2_wrist_1_joint",
"arm2_shoulder_pan_joint",
"arm1_shoulder_lift_joint",
"arm1_wrist_1_joint",
"arm1_robotiq_85_left_knuckle_joint",
"arm1_shoulder_pan_joint",
"arm1_wrist_3_joint",
"arm1_wrist_2_joint",
"arm1_elbow_joint"
]
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"arm2_robotiq_85_left_knuckle_joint",
"arm2_wrist_3_joint",
"arm2_wrist_2_joint",
"arm2_shoulder_lift_joint",
"arm2_elbow_joint",
"arm2_wrist_1_joint",
"arm2_shoulder_pan_joint",
"arm1_shoulder_lift_joint",
"arm1_wrist_1_joint",
"arm1_robotiq_85_left_knuckle_joint",
"arm1_shoulder_pan_joint",
"arm1_wrist_3_joint",
"arm1_wrist_2_joint",
"arm1_elbow_joint"
]
},
"observation.velocity": {
"dtype": "float32",
"shape": [
14
],
"names": [
"arm2_robotiq_85_left_knuckle_joint_vel",
"arm2_wrist_3_joint_vel",
"arm2_wrist_2_joint_vel",
"arm2_shoulder_lift_joint_vel",
"arm2_elbow_joint_vel",
"arm2_wrist_1_joint_vel",
"arm2_shoulder_pan_joint_vel",
"arm1_shoulder_lift_joint_vel",
"arm1_wrist_1_joint_vel",
"arm1_robotiq_85_left_knuckle_joint_vel",
"arm1_shoulder_pan_joint_vel",
"arm1_wrist_3_joint_vel",
"arm1_wrist_2_joint_vel",
"arm1_elbow_joint_vel"
]
},
"observation.effort": {
"dtype": "float32",
"shape": [
14
],
"names": [
"arm2_robotiq_85_left_knuckle_joint_effort",
"arm2_wrist_3_joint_effort",
"arm2_wrist_2_joint_effort",
"arm2_shoulder_lift_joint_effort",
"arm2_elbow_joint_effort",
"arm2_wrist_1_joint_effort",
"arm2_shoulder_pan_joint_effort",
"arm1_shoulder_lift_joint_effort",
"arm1_wrist_1_joint_effort",
"arm1_robotiq_85_left_knuckle_joint_effort",
"arm1_shoulder_pan_joint_effort",
"arm1_wrist_3_joint_effort",
"arm1_wrist_2_joint_effort",
"arm1_elbow_joint_effort"
]
},
"observation.clock_clock": {
"dtype": "string",
"shape": [
1
],
"names": [
"clock"
]
},
"observation.rosout_stamp": {
"dtype": "string",
"shape": [
1
],
"names": [
"stamp"
]
},
"observation.rosout_level": {
"dtype": "float32",
"shape": [
1
],
"names": [
"level"
]
},
"observation.rosout_name": {
"dtype": "string",
"shape": [
1
],
"names": [
"name"
]
},
"observation.rosout_msg": {
"dtype": "string",
"shape": [
1
],
"names": [
"msg"
]
},
"observation.rosout_file": {
"dtype": "string",
"shape": [
1
],
"names": [
"file"
]
},
"observation.rosout_function": {
"dtype": "string",
"shape": [
1
],
"names": [
"function"
]
},
"observation.rosout_line": {
"dtype": "float32",
"shape": [
1
],
"names": [
"line"
]
},
"observation.rviz_moveit_motion_planning_display_robot_interaction_interactive_marker_topic_update_server_id": {
"dtype": "string",
"shape": [
1
],
"names": [
"server_id"
]
},
"observation.rviz_moveit_motion_planning_display_robot_interaction_interactive_marker_topic_update_seq_num": {
"dtype": "float32",
"shape": [
1
],
"names": [
"seq_num"
]
},
"observation.rviz_moveit_motion_planning_display_robot_interaction_interactive_marker_topic_update_type": {
"dtype": "float32",
"shape": [
1
],
"names": [
"type"
]
},
"observation.rviz_moveit_motion_planning_display_robot_interaction_interactive_marker_topic_update_markers": {
"dtype": "string",
"shape": [
1
],
"names": [
"markers"
]
},
"observation.rviz_moveit_motion_planning_display_robot_interaction_interactive_marker_topic_update_poses": {
"dtype": "string",
"shape": [
1
],
"names": [
"poses"
]
},
"observation.rviz_moveit_motion_planning_display_robot_interaction_interactive_marker_topic_update_erases": {
"dtype": "string",
"shape": [
1
],
"names": [
"erases"
]
},
"observation.display_contacts_markers": {
"dtype": "string",
"shape": [
1
],
"names": [
"markers"
]
},
"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]