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",
"robot_type": null,
"total_episodes": 203,
"total_frames": 190983,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:203"
},
"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": {
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"shape": [
1
],
"names": null
},
"kitchen_type": {
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"shape": [
1
],
"names": null
},
"initial_pose": {
"dtype": "float32",
"shape": [
6
],
"names": {
"pose": [
"x",
"y",
"qw",
"qx",
"qy",
"qz"
]
}
},
"is_first": {
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"shape": [
1
],
"names": null
},
"is_last": {
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1
],
"names": null
},
"subtask_index": {
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"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": 20,
"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": 20,
"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": 20,
"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": {
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"shape": [
23
],
"names": {
"action": [
"l_x",
"l_y",
"l_z",
"l_r1",
"l_r2",
"l_r3",
"l_r4",
"l_r5",
"l_r6",
"l_gripper",
"r_x",
"r_y",
"r_z",
"r_r1",
"r_r2",
"r_r3",
"r_r4",
"r_r5",
"r_r6",
"r_gripper",
"v_x",
"v_y",
"omega"
]
}
},
"timestamp": {
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"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:
[More Information Needed]