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
{
"codebase_version": "v2.1",
"trossen_subversion": "v1.0",
"robot_type": "trossen_ai_stationary",
"total_episodes": 1,
"total_frames": 80,
"total_tasks": 1,
"total_videos": 2,
"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": {
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6"
]
},
"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
},
"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
},
"obs_left_ee_position": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"obs_left_ee_quat_xyzw": {
"dtype": "float32",
"shape": [
4
],
"names": [
"qx",
"qy",
"qz",
"qw"
]
},
"obs_left_ee_euler_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"roll",
"pitch",
"yaw"
]
},
"obs_right_ee_position": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"obs_right_ee_quat_xyzw": {
"dtype": "float32",
"shape": [
4
],
"names": [
"qx",
"qy",
"qz",
"qw"
]
},
"obs_right_ee_euler_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"roll",
"pitch",
"yaw"
]
},
"obs_head_camera_position": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"obs_head_camera_quat_xyzw": {
"dtype": "float32",
"shape": [
4
],
"names": [
"qx",
"qy",
"qz",
"qw"
]
},
"obs_head_camera_euler_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"roll",
"pitch",
"yaw"
]
},
"action_left_ee_position": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"action_left_ee_quat_xyzw": {
"dtype": "float32",
"shape": [
4
],
"names": [
"qx",
"qy",
"qz",
"qw"
]
},
"action_left_ee_euler_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"roll",
"pitch",
"yaw"
]
},
"action_right_ee_position": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"action_right_ee_quat_xyzw": {
"dtype": "float32",
"shape": [
4
],
"names": [
"qx",
"qy",
"qz",
"qw"
]
},
"action_right_ee_euler_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"roll",
"pitch",
"yaw"
]
}
}
}
Citation
BibTeX:
[More Information Needed]