asterism45/bi_openarm_dataset_test_clap

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "bi_openarm",
    "total_episodes": 1,
    "total_frames": 1771,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow.pos",
                "left_wrist_pitch.pos",
                "left_wrist_roll.pos",
                "left_wrist_yaw.pos",
                "left_tool.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow.pos",
                "right_wrist_pitch.pos",
                "right_wrist_roll.pos",
                "right_wrist_yaw.pos",
                "right_tool.pos",
                "right_gripper.pos"
            ],
            "shape": [
                16
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_pan.vel",
                "left_shoulder_lift.pos",
                "left_shoulder_lift.vel",
                "left_elbow.pos",
                "left_elbow.vel",
                "left_wrist_pitch.pos",
                "left_wrist_pitch.vel",
                "left_wrist_roll.pos",
                "left_wrist_roll.vel",
                "left_wrist_yaw.pos",
                "left_wrist_yaw.vel",
                "left_tool.pos",
                "left_tool.vel",
                "left_gripper.pos",
                "left_gripper.vel",
                "right_shoulder_pan.pos",
                "right_shoulder_pan.vel",
                "right_shoulder_lift.pos",
                "right_shoulder_lift.vel",
                "right_elbow.pos",
                "right_elbow.vel",
                "right_wrist_pitch.pos",
                "right_wrist_pitch.vel",
                "right_wrist_roll.pos",
                "right_wrist_roll.vel",
                "right_wrist_yaw.pos",
                "right_wrist_yaw.vel",
                "right_tool.pos",
                "right_tool.vel",
                "right_gripper.pos",
                "right_gripper.vel"
            ],
            "shape": [
                32
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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:

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