| | --- |
| | 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": "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:** |
| |
|
| | ```bibtex |
| | [More Information Needed] |
| | ``` |
