Datasets:
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": "franka",
"total_episodes": 436,
"total_frames": 53455,
"total_tasks": 10,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:436"
},
"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": {
"images.cam_front": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"images.cam_wrist": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"arm_state_cart_pos": {
"dtype": "float32",
"shape": [
3
],
"names": {
"axes": [
"x",
"y",
"z"
]
}
},
"arm_state_cart_rot": {
"dtype": "float32",
"shape": [
3
],
"names": {
"axes": [
"axis_angle1",
"axis_angle2",
"axis_angle3"
]
}
},
"arm_state_joint_pos": {
"dtype": "float32",
"shape": [
7
],
"names": {
"joints": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
}
},
"gripper_state_qpos": {
"dtype": "float32",
"shape": [
2
],
"names": {
"finger": [
"left",
"right"
]
}
},
"arm_cmd_cart_pos": {
"dtype": "float32",
"shape": [
3
],
"names": {
"axes": [
"x",
"y",
"z"
]
}
},
"arm_cmd_cart_rot": {
"dtype": "float32",
"shape": [
3
],
"names": {
"axes": [
"axis_angle1",
"axis_angle2",
"axis_angle3"
]
}
},
"gripper_cmd_action": {
"dtype": "float32",
"shape": [
1
],
"names": {
"scalar": [
"command"
]
}
},
"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_chunks": 1,
"total_videos": 872
}
Citation
BibTeX:
[More Information Needed]