| --- |
| 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). |
|
|
|
|
| <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=axiboai/piper-stack-scripted"> |
| <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> |
| <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> |
| </a> |
|
|
|
|
| ## 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", |
| "robot_type": null, |
| "total_episodes": 200, |
| "total_frames": 125272, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 20, |
| "splits": { |
| "train": "0:200" |
| }, |
| "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": { |
| "observation.images.wrist_left": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 224, |
| "video.fps": 20, |
| "video.channels": 3, |
| "video.codec": "h264" |
| } |
| }, |
| "observation.images.wrist_right": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 224, |
| "video.fps": 20, |
| "video.channels": 3, |
| "video.codec": "h264" |
| } |
| }, |
| "observation.images.scene_front": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 224, |
| "video.fps": 20, |
| "video.channels": 3, |
| "video.codec": "h264" |
| } |
| }, |
| "observation.images.scene_top": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 224, |
| "video.fps": 20, |
| "video.channels": 3, |
| "video.codec": "h264" |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 30 |
| ], |
| "names": [ |
| "q0", |
| "q1", |
| "q2", |
| "q3", |
| "q4", |
| "q5", |
| "q6", |
| "q7", |
| "q8", |
| "q9", |
| "q10", |
| "q11", |
| "q12", |
| "q13", |
| "qd0", |
| "qd1", |
| "qd2", |
| "qd3", |
| "qd4", |
| "qd5", |
| "qd6", |
| "qd7", |
| "qd8", |
| "qd9", |
| "qd10", |
| "qd11", |
| "qd12", |
| "qd13", |
| "g_left", |
| "g_right" |
| ] |
| }, |
| "observation.ee_pose": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "left_x", |
| "left_y", |
| "left_z", |
| "left_qw", |
| "left_qx", |
| "left_qy", |
| "left_qz", |
| "right_x", |
| "right_y", |
| "right_z", |
| "right_qw", |
| "right_qx", |
| "right_qy", |
| "right_qz" |
| ] |
| }, |
| "action.joint_position": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "joint_target_0", |
| "joint_target_1", |
| "joint_target_2", |
| "joint_target_3", |
| "joint_target_4", |
| "joint_target_5", |
| "joint_target_6", |
| "joint_target_7", |
| "joint_target_8", |
| "joint_target_9", |
| "joint_target_10", |
| "joint_target_11", |
| "joint_target_12", |
| "joint_target_13" |
| ] |
| }, |
| "action.ee_delta": { |
| "dtype": "float32", |
| "shape": [ |
| 12 |
| ], |
| "names": [ |
| "left_dx", |
| "left_dy", |
| "left_dz", |
| "left_drx", |
| "left_dry", |
| "left_drz", |
| "right_dx", |
| "right_dy", |
| "right_dz", |
| "right_drx", |
| "right_dry", |
| "right_drz" |
| ] |
| }, |
| "metadata.demonstrator_id": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "demonstrator_id" |
| ] |
| }, |
| "metadata.station_id": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "station_id" |
| ] |
| }, |
| "metadata.task_variant": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "task_variant" |
| ] |
| }, |
| "metadata.towel_id": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "towel_id" |
| ] |
| }, |
| "metadata.lighting": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "lighting" |
| ] |
| }, |
| "metadata.mat_id": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "mat_id" |
| ] |
| }, |
| "metadata.success": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "success" |
| ] |
| }, |
| "metadata.notes": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "notes" |
| ] |
| }, |
| "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] |
| ``` |
