| --- |
| 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": "v3.0", |
| "trossen_subversion": "v1.0", |
| "robot_type": "trossen_ai_mobile", |
| "total_episodes": 50, |
| "total_frames": 27342, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "fps": 30, |
| "splits": { |
| "train": "0:50" |
| }, |
| "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", |
| "shape": [ |
| 16 |
| ], |
| "names": [ |
| "left_joint_0", |
| "left_joint_1", |
| "left_joint_2", |
| "left_joint_3", |
| "left_joint_4", |
| "left_joint_5", |
| "left_joint_6", |
| "right_joint_0", |
| "right_joint_1", |
| "right_joint_2", |
| "right_joint_3", |
| "right_joint_4", |
| "right_joint_5", |
| "right_joint_6", |
| "linear_vel", |
| "angular_vel" |
| ], |
| "fps": 30 |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 16 |
| ], |
| "names": [ |
| "left_joint_0", |
| "left_joint_1", |
| "left_joint_2", |
| "left_joint_3", |
| "left_joint_4", |
| "left_joint_5", |
| "left_joint_6", |
| "right_joint_0", |
| "right_joint_1", |
| "right_joint_2", |
| "right_joint_3", |
| "right_joint_4", |
| "right_joint_5", |
| "right_joint_6", |
| "linear_vel", |
| "angular_vel" |
| ], |
| "fps": 30 |
| }, |
| "observation.images.cam_left_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 30.0, |
| "video.height": 480, |
| "video.width": 640, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_high": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 30.0, |
| "video.height": 480, |
| "video.width": 640, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_right_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 30.0, |
| "video.height": 480, |
| "video.width": 640, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30 |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30 |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30 |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30 |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30 |
| } |
| }, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 500 |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
| ## Notes |
|
|
| trossen_ui_mobile_block_transfer_v2 — Dataset Overview |
| Task Description |
| |
| A mobile bimanual manipulation task performed with the WidowX AI robot mounted on a motorized base. |
| The robot navigates the mobile base, picks up a block, transfers it between arms, and places it at a target location. |
| |
| | Field | Value | |
| | --- | --- | |
| | **Robot** | Mobile — bimanual WidowX AI with motorized base | |
| | **Dataset Format** | LeRobot v2 | |
| | **Episodes** | 50 | |
| | **Operator** | Ali Basalam | |
| | **Organization** | Trossen Robotics | |
| | **Framework** | Trossen Data Collection UI | |
| | **Cameras** | ``cam_high``, ``cam_left_wrist``, ``cam_right_wrist`` | |
| | **Converted from v2 → v3** | No — native v2 dataset | |
| | **Notes** | The v3 counterpart of this dataset is **trossen_ui_mobile_block_transfer_v3**. | |
| |
