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": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_yaw.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
7
]
},
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_yaw.pos",
"wrist_roll.pos",
"gripper.pos",
"shoulder_pan.torq",
"shoulder_lift.torq",
"elbow_flex.torq",
"wrist_flex.torq",
"wrist_yaw.torq",
"wrist_roll.torq",
"gripper.torq",
"shoulder_pan.vel",
"shoulder_lift.vel",
"elbow_flex.vel",
"wrist_flex.vel",
"wrist_yaw.vel",
"wrist_roll.vel",
"gripper.vel"
],
"shape": [
21
]
},
"observation.images.zed_left": {
"dtype": "video",
"shape": [
376,
672,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"video.height": 376,
"video.width": 672,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.zed_right": {
"dtype": "video",
"shape": [
376,
672,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"video.height": 376,
"video.width": 672,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.wrist_cam": {
"dtype": "video",
"shape": [
360,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"video.height": 360,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"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
}
},
"total_episodes": 100,
"total_frames": 275323,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 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",
"robot_type": "rebot_b601_follower",
"splits": {
"train": "0:100"
},
"robot_config": {
"robot": {
"type": "rebot_b601_follower",
"id": "b601_follower",
"port": "/dev/ttyACM0",
"can_adapter": "damiao",
"dm_serial_baud": 921600,
"disable_torque_on_disconnect": true,
"return_home_on_disconnect": true,
"home_duration_s": 1.0,
"gripper_close_duration_s": 0.67,
"home_wrist_flex_deg": -45.0,
"max_relative_target": null,
"cameras": {
"zed_left": {
"fps": 30,
"width": 672,
"height": 376,
"side": "left",
"serial_number": "13925480"
},
"zed_right": {
"fps": 30,
"width": 672,
"height": 376,
"side": "right",
"serial_number": "13925480"
},
"wrist_cam": {
"fps": 30,
"width": 640,
"height": 360,
"index_or_path": "/dev/video2",
"color_mode": "rgb",
"rotation": 0,
"warmup_s": 3,
"fourcc": "MJPG",
"backend": 0
}
},
"motor_can_ids": {
"shoulder_pan": [
1,
17
],
"shoulder_lift": [
2,
18
],
"elbow_flex": [
3,
19
],
"wrist_flex": [
4,
20
],
"wrist_yaw": [
5,
21
],
"wrist_roll": [
6,
22
],
"gripper": [
7,
23
]
},
"pos_vel_velocity": [
150.0,
150.0,
150.0,
150.0,
150.0,
150.0,
900.0
],
"control_mode": "mit",
"mit_kp": [
45.0,
45.0,
45.0,
8.0,
9.0,
8.0,
8.0
],
"mit_kd": [
12.0,
12.0,
12.0,
1.0,
1.0,
1.0,
1.0
],
"gravity_compensation": true,
"gravity_gain": 1.0,
"gravity_scale": {},
"gravity_payload_kg": 0.0,
"gravity_payload_com": [
0.0,
0.0,
0.0
],
"gravity_max_torque": 20.0,
"temp_warn_c": 57.0,
"temp_danger_c": 61.0,
"temp_max_c": 65.0,
"temp_warn_repeat_s": 3.0,
"temp_danger_repeat_s": 1.0,
"temp_history_s": 60.0,
"temp_sample_hz": 10.0,
"temp_shutdown_enabled": true,
"temp_debug": false,
"gripper_control_mode": "force_pos",
"gripper_torque_ratio": 0.07,
"gripper_mit_kp": 8.0,
"gripper_mit_kd": 0.3,
"send_rate_hz": 100.0,
"profile_log_path": null,
"enable_trajectory_smoothing": true,
"smoothing_time_constant_s": 0.04,
"joint_limits": {
"shoulder_pan": [
-150.0,
150.0
],
"shoulder_lift": [
-200.0,
1.0
],
"elbow_flex": [
-200.0,
1.0
],
"wrist_flex": [
-80.0,
90.0
],
"wrist_yaw": [
-90.0,
90.0
],
"wrist_roll": [
-90.0,
90.0
],
"gripper": [
-270.0,
0.0
]
},
"calibration_dir": null
},
"teleop": {
"type": "rebot_102_leader",
"id": "b601_leader",
"port": "/dev/ttyUSB0",
"baudrate": 1000000,
"joint_ids": {
"shoulder_pan": 0,
"shoulder_lift": 1,
"elbow_flex": 2,
"wrist_flex": 3,
"wrist_yaw": 4,
"wrist_roll": 5,
"gripper": 6
},
"joint_directions": {
"shoulder_pan": -1,
"shoulder_lift": -1,
"elbow_flex": 1,
"wrist_flex": 1,
"wrist_yaw": 1,
"wrist_roll": -1,
"gripper": -6
},
"joint_ranges": {
"shoulder_pan": [
-150,
150
],
"shoulder_lift": [
-200,
1
],
"elbow_flex": [
-200,
1
],
"wrist_flex": [
-80,
90
],
"wrist_yaw": [
-90,
90
],
"wrist_roll": [
-90,
90
],
"gripper": [
-270,
0
]
},
"calibration_dir": null
}
}
}
Citation
BibTeX:
[More Information Needed]