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",
"robot_type": null,
"total_episodes": 4,
"total_frames": 188,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:4"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
18
],
"names": [
"l_robot/joint1",
"l_robot/joint2",
"l_robot/joint3",
"l_robot/joint4",
"l_robot/joint5",
"l_robot/joint6",
"l_robot/joint7",
"l_robot/finger_joint1",
"l_robot/finger_joint2",
"r_robot/joint1",
"r_robot/joint2",
"r_robot/joint3",
"r_robot/joint4",
"r_robot/joint5",
"r_robot/joint6",
"r_robot/joint7",
"r_robot/finger_joint1",
"r_robot/finger_joint2"
]
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"cambridge_mug_px",
"cambridge_mug_py",
"cambridge_mug_pz",
"cambridge_mug_qw",
"cambridge_mug_qx",
"cambridge_mug_qy",
"cambridge_mug_qz",
"hanger_px",
"hanger_py",
"hanger_pz",
"hanger_qw",
"hanger_qx",
"hanger_qy",
"hanger_qz"
]
},
"observation.qvel": {
"dtype": "float32",
"shape": [
18
],
"names": [
"l_robot/joint1",
"l_robot/joint2",
"l_robot/joint3",
"l_robot/joint4",
"l_robot/joint5",
"l_robot/joint6",
"l_robot/joint7",
"l_robot/finger_joint1",
"l_robot/finger_joint2",
"r_robot/joint1",
"r_robot/joint2",
"r_robot/joint3",
"r_robot/joint4",
"r_robot/joint5",
"r_robot/joint6",
"r_robot/joint7",
"r_robot/finger_joint1",
"r_robot/finger_joint2"
]
},
"observation.env_qvel": {
"dtype": "float32",
"shape": [
12
],
"names": [
"cambridge_mug_vx",
"cambridge_mug_vy",
"cambridge_mug_vz",
"cambridge_mug_wx",
"cambridge_mug_wy",
"cambridge_mug_wz",
"hanger_vx",
"hanger_vy",
"hanger_vz",
"hanger_wx",
"hanger_wy",
"hanger_wz"
]
},
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
"l_robot/actuator1",
"l_robot/actuator2",
"l_robot/actuator3",
"l_robot/actuator4",
"l_robot/actuator5",
"l_robot/actuator6",
"l_robot/actuator7",
"l_robot//unnamed_actuator_7",
"r_robot/actuator1",
"r_robot/actuator2",
"r_robot/actuator3",
"r_robot/actuator4",
"r_robot/actuator5",
"r_robot/actuator6",
"r_robot/actuator7",
"r_robot//unnamed_actuator_7"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_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]