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Datasets:
Sraghvi
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data_processing_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Formats:
parquet
Size:
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Tags:
LeRobot
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
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+ ---
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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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+ - **Homepage:** [More Information Needed]
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+ - **Paper:** [More Information Needed]
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+ - **License:** apache-2.0
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+
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+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
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+ ```json
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+ {
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+ "codebase_version": "v2.1",
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+ "robot_type": "dual_arm_robot",
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+ "total_episodes": 1,
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+ "total_frames": 3105,
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+ "total_tasks": 1,
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+ "total_videos": 0,
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+ "total_chunks": 1,
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+ "chunks_size": 1000,
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+ "fps": 30,
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+ "splits": {
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+ "train": "0:1"
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+ },
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+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+ "features": {
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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 34
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+ ],
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+ "names": [
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+ "arm1_shoulder_lift_joint",
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+ "arm1_elbow_joint",
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+ "arm1_wrist_1_joint",
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+ "arm1_wrist_2_joint",
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+ "arm2_wrist_3_joint",
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+ "arm1_wrist_3_joint",
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+ "arm2_3f_finger_b_joint_3",
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+ "arm1_3f_finger_c_joint_3",
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+ "arm2_3f_palm_finger_b_joint",
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+ "arm2_3f_finger_c_joint_3",
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+ "arm2_3f_palm_finger_c_joint",
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+ "arm1_3f_finger_c_joint_2",
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+ "arm2_3f_finger_a_joint_3",
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+ "arm2_3f_finger_c_joint_2",
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+ "arm1_3f_finger_b_joint_2",
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+ "arm2_3f_finger_c_joint_1",
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+ "arm2_wrist_2_joint",
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+ "arm1_shoulder_pan_joint",
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+ "arm1_3f_finger_c_joint_1",
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+ "arm2_3f_finger_b_joint_1",
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+ "arm2_shoulder_pan_joint",
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+ "arm1_3f_finger_b_joint_3",
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+ "arm1_3f_finger_b_joint_1",
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+ "arm2_3f_finger_a_joint_2",
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+ "arm1_3f_palm_finger_b_joint",
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+ "arm1_3f_finger_a_joint_3",
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+ "arm2_elbow_joint",
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+ "arm1_3f_finger_a_joint_1",
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+ "arm2_shoulder_lift_joint",
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+ "arm2_3f_finger_b_joint_2",
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+ "arm2_3f_finger_a_joint_1",
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+ "arm1_3f_palm_finger_c_joint",
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+ "arm1_3f_finger_a_joint_2",
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+ "arm2_wrist_1_joint"
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+ ]
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+ },
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 34
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+ ],
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+ "names": [
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+ "arm1_shoulder_lift_joint",
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+ "arm1_elbow_joint",
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+ "arm1_wrist_1_joint",
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+ "arm1_wrist_2_joint",
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+ "arm2_wrist_3_joint",
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+ "arm1_wrist_3_joint",
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+ "arm2_3f_finger_b_joint_3",
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+ "arm1_3f_finger_c_joint_3",
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+ "arm2_3f_palm_finger_b_joint",
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+ "arm2_3f_finger_c_joint_3",
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+ "arm2_3f_palm_finger_c_joint",
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+ "arm1_3f_finger_c_joint_2",
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+ "arm2_3f_finger_a_joint_3",
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+ "arm2_3f_finger_c_joint_2",
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+ "arm1_3f_finger_b_joint_2",
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+ "arm2_3f_finger_c_joint_1",
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+ "arm2_wrist_2_joint",
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+ "arm1_shoulder_pan_joint",
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+ "arm1_3f_finger_c_joint_1",
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+ "arm2_3f_finger_b_joint_1",
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+ "arm2_shoulder_pan_joint",
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+ "arm1_3f_finger_b_joint_3",
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+ "arm1_3f_finger_b_joint_1",
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+ "arm2_3f_finger_a_joint_2",
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+ "arm1_3f_palm_finger_b_joint",
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+ "arm1_3f_finger_a_joint_3",
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+ "arm2_elbow_joint",
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+ "arm1_3f_finger_a_joint_1",
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+ "arm2_shoulder_lift_joint",
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+ "arm2_3f_finger_b_joint_2",
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+ "arm2_3f_finger_a_joint_1",
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+ "arm1_3f_palm_finger_c_joint",
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+ "arm1_3f_finger_a_joint_2",
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+ "arm2_wrist_1_joint"
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+ ]
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+ },
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+ "observation.velocity": {
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+ "dtype": "float32",
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+ "shape": [
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+ 34
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+ ],
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+ "names": [
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+ "arm1_shoulder_lift_joint_vel",
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+ "arm1_elbow_joint_vel",
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+ "arm1_wrist_1_joint_vel",
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+ "arm1_wrist_2_joint_vel",
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+ "arm2_wrist_3_joint_vel",
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+ "arm1_wrist_3_joint_vel",
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+ "arm2_3f_finger_b_joint_3_vel",
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+ "arm1_3f_finger_c_joint_3_vel",
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+ "arm2_3f_palm_finger_b_joint_vel",
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+ "arm2_3f_finger_c_joint_3_vel",
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+ "arm2_3f_palm_finger_c_joint_vel",
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+ "arm1_3f_finger_c_joint_2_vel",
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+ "arm2_3f_finger_a_joint_3_vel",
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+ "arm2_3f_finger_c_joint_2_vel",
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+ "arm1_3f_finger_b_joint_2_vel",
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+ "arm2_3f_finger_c_joint_1_vel",
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+ "arm2_wrist_2_joint_vel",
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+ "arm1_shoulder_pan_joint_vel",
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+ "arm1_3f_finger_c_joint_1_vel",
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+ "arm2_3f_finger_b_joint_1_vel",
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+ "arm2_shoulder_pan_joint_vel",
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+ "arm1_3f_finger_b_joint_3_vel",
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+ "arm1_3f_finger_b_joint_1_vel",
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+ "arm2_3f_finger_a_joint_2_vel",
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+ "arm1_3f_palm_finger_b_joint_vel",
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+ "arm1_3f_finger_a_joint_3_vel",
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+ "arm2_elbow_joint_vel",
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+ "arm1_3f_finger_a_joint_1_vel",
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+ "arm2_shoulder_lift_joint_vel",
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+ "arm2_3f_finger_b_joint_2_vel",
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+ "arm2_3f_finger_a_joint_1_vel",
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+ "arm1_3f_palm_finger_c_joint_vel",
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+ "arm1_3f_finger_a_joint_2_vel",
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+ "arm2_wrist_1_joint_vel"
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+ ]
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+ },
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+ "observation.effort": {
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+ "dtype": "float32",
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+ "shape": [
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+ 34
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+ ],
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+ "names": [
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+ "arm1_shoulder_lift_joint_effort",
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+ "arm1_elbow_joint_effort",
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+ "arm1_wrist_1_joint_effort",
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+ "arm1_wrist_2_joint_effort",
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+ "arm2_wrist_3_joint_effort",
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+ "arm1_wrist_3_joint_effort",
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+ "arm2_3f_finger_b_joint_3_effort",
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+ "arm1_3f_finger_c_joint_3_effort",
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+ "arm2_3f_palm_finger_b_joint_effort",
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+ "arm2_3f_finger_c_joint_3_effort",
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+ "arm2_3f_palm_finger_c_joint_effort",
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+ "arm1_3f_finger_c_joint_2_effort",
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+ "arm2_3f_finger_a_joint_3_effort",
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+ "arm2_3f_finger_c_joint_2_effort",
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+ "arm1_3f_finger_b_joint_2_effort",
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+ "arm2_3f_finger_c_joint_1_effort",
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+ "arm2_wrist_2_joint_effort",
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+ "arm1_shoulder_pan_joint_effort",
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+ "arm1_3f_finger_c_joint_1_effort",
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+ "arm2_3f_finger_b_joint_1_effort",
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+ "arm2_shoulder_pan_joint_effort",
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+ "arm1_3f_finger_b_joint_3_effort",
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+ "arm1_3f_finger_b_joint_1_effort",
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+ "arm2_3f_finger_a_joint_2_effort",
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+ "arm1_3f_palm_finger_b_joint_effort",
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+ "arm1_3f_finger_a_joint_3_effort",
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+ "arm2_elbow_joint_effort",
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+ "arm1_3f_finger_a_joint_1_effort",
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+ "arm2_shoulder_lift_joint_effort",
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+ "arm2_3f_finger_b_joint_2_effort",
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+ "arm2_3f_finger_a_joint_1_effort",
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+ "arm1_3f_palm_finger_c_joint_effort",
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+ "arm1_3f_finger_a_joint_2_effort",
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+ "arm2_wrist_1_joint_effort"
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+ ]
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "frame_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "episode_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "task_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ }
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+ }
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+ }
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+ ```
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+
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+
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+ ## Citation
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+
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+ **BibTeX:**
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+
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+ ```bibtex
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+ [More Information Needed]
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+ ```