| | --- |
| | 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": "v2.1", |
| | "robot_type": "ur10e", |
| | "total_episodes": 3, |
| | "total_frames": 462, |
| | "total_tasks": 1, |
| | "total_videos": 9, |
| | "total_chunks": 1, |
| | "chunks_size": 1000, |
| | "fps": 50, |
| | "splits": { |
| | "train": "0:3" |
| | }, |
| | "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": { |
| | "observation.state.pose": { |
| | "dtype": "float64", |
| | "shape": [ |
| | 6 |
| | ], |
| | "names": [ |
| | "x", |
| | "y", |
| | "z", |
| | "roll", |
| | "pitch", |
| | "yaw" |
| | ] |
| | }, |
| | "observation.state.tool": { |
| | "dtype": "float64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "tool" |
| | ] |
| | }, |
| | "observation.state.tcp_force": { |
| | "dtype": "float64", |
| | "shape": [ |
| | 3 |
| | ], |
| | "names": [ |
| | "x", |
| | "y", |
| | "z" |
| | ] |
| | }, |
| | "observation.state.tcp_torque": { |
| | "dtype": "float64", |
| | "shape": [ |
| | 3 |
| | ], |
| | "names": [ |
| | "x", |
| | "y", |
| | "z" |
| | ] |
| | }, |
| | "observation.state.joints": { |
| | "dtype": "float64", |
| | "shape": [ |
| | 6 |
| | ] |
| | }, |
| | "observation.images.side": { |
| | "dtype": "video", |
| | "shape": [ |
| | 3, |
| | 300, |
| | 355 |
| | ], |
| | "info": { |
| | "video.height": 300, |
| | "video.width": 355, |
| | "video.codec": "av1", |
| | "video.pix_fmt": "yuv420p", |
| | "video.is_depth_map": false, |
| | "video.fps": 50, |
| | "video.channels": 3, |
| | "has_audio": false |
| | } |
| | }, |
| | "observation.images.wrist_left": { |
| | "dtype": "video", |
| | "shape": [ |
| | 3, |
| | 360, |
| | 270 |
| | ], |
| | "info": { |
| | "video.height": 360, |
| | "video.width": 270, |
| | "video.codec": "av1", |
| | "video.pix_fmt": "yuv420p", |
| | "video.is_depth_map": false, |
| | "video.fps": 50, |
| | "video.channels": 3, |
| | "has_audio": false |
| | } |
| | }, |
| | "observation.images.wrist_right": { |
| | "dtype": "video", |
| | "shape": [ |
| | 3, |
| | 360, |
| | 270 |
| | ], |
| | "info": { |
| | "video.height": 360, |
| | "video.width": 270, |
| | "video.codec": "av1", |
| | "video.pix_fmt": "yuv420p", |
| | "video.is_depth_map": false, |
| | "video.fps": 50, |
| | "video.channels": 3, |
| | "has_audio": false |
| | } |
| | }, |
| | "action.pose": { |
| | "dtype": "float64", |
| | "shape": [ |
| | 6 |
| | ], |
| | "names": [ |
| | "dx", |
| | "dy", |
| | "dz", |
| | "droll", |
| | "dpitch", |
| | "dyaw" |
| | ] |
| | }, |
| | "action.tool": { |
| | "dtype": "float64", |
| | "shape": [ |
| | 1 |
| | ] |
| | }, |
| | "action.joints": { |
| | "dtype": "float64", |
| | "shape": [ |
| | 6 |
| | ] |
| | }, |
| | "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] |
| | ``` |
