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": 3105,
"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.state": {
"dtype": "float32",
"shape": [
34
],
"names": [
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
]
},
"action": {
"dtype": "float32",
"shape": [
34
],
"names": [
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
]
},
"observation.velocity": {
"dtype": "float32",
"shape": [
34
],
"names": [
"arm1_shoulder_lift_joint_vel",
"arm1_elbow_joint_vel",
"arm1_wrist_1_joint_vel",
"arm1_wrist_2_joint_vel",
"arm2_wrist_3_joint_vel",
"arm1_wrist_3_joint_vel",
"arm2_3f_finger_b_joint_3_vel",
"arm1_3f_finger_c_joint_3_vel",
"arm2_3f_palm_finger_b_joint_vel",
"arm2_3f_finger_c_joint_3_vel",
"arm2_3f_palm_finger_c_joint_vel",
"arm1_3f_finger_c_joint_2_vel",
"arm2_3f_finger_a_joint_3_vel",
"arm2_3f_finger_c_joint_2_vel",
"arm1_3f_finger_b_joint_2_vel",
"arm2_3f_finger_c_joint_1_vel",
"arm2_wrist_2_joint_vel",
"arm1_shoulder_pan_joint_vel",
"arm1_3f_finger_c_joint_1_vel",
"arm2_3f_finger_b_joint_1_vel",
"arm2_shoulder_pan_joint_vel",
"arm1_3f_finger_b_joint_3_vel",
"arm1_3f_finger_b_joint_1_vel",
"arm2_3f_finger_a_joint_2_vel",
"arm1_3f_palm_finger_b_joint_vel",
"arm1_3f_finger_a_joint_3_vel",
"arm2_elbow_joint_vel",
"arm1_3f_finger_a_joint_1_vel",
"arm2_shoulder_lift_joint_vel",
"arm2_3f_finger_b_joint_2_vel",
"arm2_3f_finger_a_joint_1_vel",
"arm1_3f_palm_finger_c_joint_vel",
"arm1_3f_finger_a_joint_2_vel",
"arm2_wrist_1_joint_vel"
]
},
"observation.effort": {
"dtype": "float32",
"shape": [
34
],
"names": [
"arm1_shoulder_lift_joint_effort",
"arm1_elbow_joint_effort",
"arm1_wrist_1_joint_effort",
"arm1_wrist_2_joint_effort",
"arm2_wrist_3_joint_effort",
"arm1_wrist_3_joint_effort",
"arm2_3f_finger_b_joint_3_effort",
"arm1_3f_finger_c_joint_3_effort",
"arm2_3f_palm_finger_b_joint_effort",
"arm2_3f_finger_c_joint_3_effort",
"arm2_3f_palm_finger_c_joint_effort",
"arm1_3f_finger_c_joint_2_effort",
"arm2_3f_finger_a_joint_3_effort",
"arm2_3f_finger_c_joint_2_effort",
"arm1_3f_finger_b_joint_2_effort",
"arm2_3f_finger_c_joint_1_effort",
"arm2_wrist_2_joint_effort",
"arm1_shoulder_pan_joint_effort",
"arm1_3f_finger_c_joint_1_effort",
"arm2_3f_finger_b_joint_1_effort",
"arm2_shoulder_pan_joint_effort",
"arm1_3f_finger_b_joint_3_effort",
"arm1_3f_finger_b_joint_1_effort",
"arm2_3f_finger_a_joint_2_effort",
"arm1_3f_palm_finger_b_joint_effort",
"arm1_3f_finger_a_joint_3_effort",
"arm2_elbow_joint_effort",
"arm1_3f_finger_a_joint_1_effort",
"arm2_shoulder_lift_joint_effort",
"arm2_3f_finger_b_joint_2_effort",
"arm2_3f_finger_a_joint_1_effort",
"arm1_3f_palm_finger_c_joint_effort",
"arm1_3f_finger_a_joint_2_effort",
"arm2_wrist_1_joint_effort"
]
},
"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]