| --- |
| 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", |
| "robot_type": null, |
| "total_episodes": 600, |
| "total_frames": 477183, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:600" |
| }, |
| "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", |
| "features": { |
| "kitchen_num": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "kitchen_sub_num": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "kitchen_type": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "initial_pose": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": { |
| "pose": [ |
| "x", |
| "y", |
| "qw", |
| "qx", |
| "qy", |
| "qz" |
| ] |
| } |
| }, |
| "is_first": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "is_last": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "subtask_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 23 |
| ], |
| "names": { |
| "state": [ |
| "l_x", |
| "l_y", |
| "l_z", |
| "l_r1", |
| "l_r2", |
| "l_r3", |
| "l_r4", |
| "l_r5", |
| "l_r6", |
| "r_x", |
| "r_y", |
| "r_z", |
| "r_r1", |
| "r_r2", |
| "r_r3", |
| "r_r4", |
| "r_r5", |
| "r_r6", |
| "l_gripper", |
| "r_gripper", |
| "v_x", |
| "v_y", |
| "omega" |
| ] |
| } |
| }, |
| "observation.images.front": { |
| "dtype": "video", |
| "shape": [ |
| 240, |
| 320, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 30, |
| "video.height": 240, |
| "video.width": 320, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist_left": { |
| "dtype": "video", |
| "shape": [ |
| 240, |
| 320, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 30, |
| "video.height": 240, |
| "video.width": 320, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist_right": { |
| "dtype": "video", |
| "shape": [ |
| 240, |
| 320, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 30, |
| "video.height": 240, |
| "video.width": 320, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "joint_angles": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": { |
| "joint_names": [ |
| "arm1_base_link_joint", |
| "arm2_base_link_joint", |
| "link11_joint", |
| "link21_joint", |
| "link12_joint", |
| "link22_joint", |
| "link13_joint", |
| "link23_joint", |
| "link14_joint", |
| "link24_joint", |
| "link15_joint", |
| "link25_joint", |
| "gripper1_joint", |
| "gripper2_joint" |
| ] |
| } |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 23 |
| ], |
| "names": { |
| "action": [ |
| "l_x", |
| "l_y", |
| "l_z", |
| "l_r1", |
| "l_r2", |
| "l_r3", |
| "l_r4", |
| "l_r5", |
| "l_r6", |
| "r_x", |
| "r_y", |
| "r_z", |
| "r_r1", |
| "r_r2", |
| "r_r3", |
| "r_r4", |
| "r_r5", |
| "r_r6", |
| "l_gripper", |
| "r_gripper", |
| "v_x", |
| "v_y", |
| "omega" |
| ] |
| } |
| }, |
| "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 |
| } |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
