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End of preview. Expand
in Data Studio
Dataset Authors
contributed by [RobotCoin] annotated by [RobotCoin]
Dataset Description
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
- Homepage:
- Paper:
- License: apache-2.0
Dataset Tags
RobotCoin
LeRobot
Task Descriptions
tasks
stack basket
sub_tasks
Place the light basket on the dark basket with the right gripper Pick up the dark basket with the left gripper Place the dark basket on the light basket with the right gripper Place the light basket in the center of view with the left gripper Place the dark basket in the center of view with the left gripper Pick up the light basket with the left gripper Pick up the dark basket with the right gripper Pick up the light basket with the right gripper
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "realman",
"total_episodes": 499,
"total_frames": 290587,
"total_tasks": 1,
"total_videos": 1497,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 25,
"splits": {
"train": "0:499"
},
"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.images.cam_high": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 25.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 25.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 25.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"states": {
"dtype": "float32",
"shape": [
30
],
"name": [
"right_arm_joint_1",
"right_arm_joint_2",
"right_arm_joint_3",
"right_arm_joint_4",
"right_arm_joint_5",
"right_arm_joint_6",
"right_arm_joint_7",
"right_gripper_joint",
"right_end_effector_positions_x",
"right_end_effector_positions_y",
"right_end_effector_positions_z",
"right_end_effector_quat_x",
"right_end_effector_quat_y",
"right_end_effector_quat_z",
"right_end_effector_quat_w",
"left_arm_joint_1",
"left_arm_joint_2",
"left_arm_joint_3",
"left_arm_joint_4",
"left_arm_joint_5",
"left_arm_joint_6",
"left_arm_joint_7",
"left_gripper_joint",
"left_end_effector_positions_x",
"left_end_effector_positions_y",
"left_end_effector_positions_z",
"left_end_effector_quat_x",
"left_end_effector_quat_y",
"left_end_effector_quat_z",
"left_end_effector_quat_w"
]
},
"actions": {
"dtype": "float32",
"shape": [
30
],
"name": [
"right_arm_joint_1",
"right_arm_joint_2",
"right_arm_joint_3",
"right_arm_joint_4",
"right_arm_joint_5",
"right_arm_joint_6",
"right_arm_joint_7",
"right_gripper_joint",
"right_end_effector_positions_x",
"right_end_effector_positions_y",
"right_end_effector_positions_z",
"right_end_effector_quat_x",
"right_end_effector_quat_y",
"right_end_effector_quat_z",
"right_end_effector_quat_w",
"left_arm_joint_1",
"left_arm_joint_2",
"left_arm_joint_3",
"left_arm_joint_4",
"left_arm_joint_5",
"left_arm_joint_6",
"left_arm_joint_7",
"left_gripper_joint",
"left_end_effector_positions_x",
"left_end_effector_positions_y",
"left_end_effector_positions_z",
"left_end_effector_quat_x",
"left_end_effector_quat_y",
"left_end_effector_quat_z",
"left_end_effector_quat_w"
]
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"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
}
}
}
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