| 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": "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:** | |
| ```bibtex | |
| [More Information Needed] | |
| ``` |