README.md

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

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "bhla",
    "total_episodes": 3,
    "total_frames": 1718,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pitch.pos",
                "left_shoulder_roll.pos",
                "left_shoulder_yaw.pos",
                "left_elbow_pitch.pos",
                "left_wrist_yaw.pos",
                "left_wrist_roll.pos",
                "left_wrist_pitch.pos",
                "right_shoulder_pitch.pos",
                "right_shoulder_roll.pos",
                "right_shoulder_yaw.pos",
                "right_elbow_pitch.pos",
                "right_wrist_yaw.pos",
                "right_wrist_roll.pos",
                "right_wrist_pitch.pos"
            ],
            "shape": [
                14
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pitch.pos",
                "left_shoulder_pitch.vel",
                "left_shoulder_pitch.torque",
                "left_shoulder_pitch.temp",
                "left_shoulder_roll.pos",
                "left_shoulder_roll.vel",
                "left_shoulder_roll.torque",
                "left_shoulder_roll.temp",
                "left_shoulder_yaw.pos",
                "left_shoulder_yaw.vel",
                "left_shoulder_yaw.torque",
                "left_shoulder_yaw.temp",
                "left_elbow_pitch.pos",
                "left_elbow_pitch.vel",
                "left_elbow_pitch.torque",
                "left_elbow_pitch.temp",
                "left_wrist_yaw.pos",
                "left_wrist_yaw.vel",
                "left_wrist_yaw.torque",
                "left_wrist_yaw.temp",
                "left_wrist_roll.pos",
                "left_wrist_roll.vel",
                "left_wrist_roll.torque",
                "left_wrist_roll.temp",
                "left_wrist_pitch.pos",
                "left_wrist_pitch.vel",
                "left_wrist_pitch.torque",
                "left_wrist_pitch.temp",
                "right_shoulder_pitch.pos",
                "right_shoulder_pitch.vel",
                "right_shoulder_pitch.torque",
                "right_shoulder_pitch.temp",
                "right_shoulder_roll.pos",
                "right_shoulder_roll.vel",
                "right_shoulder_roll.torque",
                "right_shoulder_roll.temp",
                "right_shoulder_yaw.pos",
                "right_shoulder_yaw.vel",
                "right_shoulder_yaw.torque",
                "right_shoulder_yaw.temp",
                "right_elbow_pitch.pos",
                "right_elbow_pitch.vel",
                "right_elbow_pitch.torque",
                "right_elbow_pitch.temp",
                "right_wrist_yaw.pos",
                "right_wrist_yaw.vel",
                "right_wrist_yaw.torque",
                "right_wrist_yaw.temp",
                "right_wrist_roll.pos",
                "right_wrist_roll.vel",
                "right_wrist_roll.torque",
                "right_wrist_roll.temp",
                "right_wrist_pitch.pos",
                "right_wrist_pitch.vel",
                "right_wrist_pitch.torque",
                "right_wrist_pitch.temp"
            ],
            "shape": [
                56
            ]
        },
        "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]