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