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--- |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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tags: |
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- LeRobot |
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- robosuite |
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configs: |
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- config_name: default |
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data_files: data/*/*.parquet |
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--- |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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## Dataset Description |
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- **Homepage:** [More Information Needed] |
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- **Paper:** [More Information Needed] |
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- **License:** apache-2.0 |
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## Dataset Structure |
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[meta/info.json](meta/info.json): |
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```json |
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{ |
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"codebase_version": "v3.0", |
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"robot_type": "robosuite", |
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"total_episodes": 5, |
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"total_frames": 367, |
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"total_tasks": 1, |
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"chunks_size": 1000, |
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"data_files_size_in_mb": 100, |
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"video_files_size_in_mb": 500, |
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"fps": 20, |
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"splits": { |
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"train": "0:5" |
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}, |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
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"video_path": null, |
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"features": { |
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"observation.state": { |
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"dtype": "float32", |
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"shape": [ |
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34 |
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], |
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"names": [ |
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"s0", |
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"s1", |
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"s2", |
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"s3", |
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"s4", |
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"s5", |
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"s6", |
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"s7", |
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"s8", |
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"s9", |
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"s10", |
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"s11", |
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"s12", |
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"s13", |
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"s14", |
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"s15", |
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"s16", |
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"s17", |
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"s18", |
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"s19", |
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"s20", |
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"s21", |
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"s22", |
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"s23", |
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"s24", |
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"s25", |
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"s26", |
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"s27", |
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"s28", |
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"s29", |
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"s30", |
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"s31", |
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"s32", |
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"s33" |
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] |
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}, |
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"action": { |
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"dtype": "float32", |
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"shape": [ |
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8 |
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], |
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"names": [ |
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"a0", |
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"a1", |
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"a2", |
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"a3", |
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"a4", |
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"a5", |
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"a6", |
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"a7" |
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] |
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}, |
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"reward": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": [ |
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"reward" |
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] |
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}, |
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"observation.gripper_to_hammer": { |
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"dtype": "float32", |
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"shape": [ |
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3 |
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] |
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}, |
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"observation.gripper_to_nail": { |
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"dtype": "float32", |
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"shape": [ |
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3 |
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] |
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}, |
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"observation.hammer_back_pos": { |
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"dtype": "float32", |
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"shape": [ |
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3 |
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] |
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}, |
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"observation.hammer_back_quat": { |
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"dtype": "float32", |
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"shape": [ |
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4 |
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] |
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}, |
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"observation.hammer_center_pos": { |
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"dtype": "float32", |
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"shape": [ |
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3 |
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] |
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}, |
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"observation.hammer_center_quat": { |
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"dtype": "float32", |
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"shape": [ |
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4 |
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] |
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}, |
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"observation.hammer_center_vel": { |
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"dtype": "float32", |
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"shape": [ |
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6 |
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] |
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}, |
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"observation.hammer_front_nail_force": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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] |
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}, |
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"observation.hammer_front_pos": { |
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"dtype": "float32", |
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"shape": [ |
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3 |
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] |
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}, |
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"observation.hammer_front_quat": { |
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"dtype": "float32", |
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"shape": [ |
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4 |
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] |
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}, |
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"observation.kin_hammer_main": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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] |
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}, |
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"observation.kin_nail_main": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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] |
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}, |
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"observation.kin_robot0_joint_pos": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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] |
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}, |
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"observation.nail_pos": { |
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"dtype": "float32", |
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"shape": [ |
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3 |
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] |
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}, |
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"observation.nail_quat": { |
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"dtype": "float32", |
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"shape": [ |
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4 |
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] |
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}, |
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"observation.object-state": { |
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"dtype": "float32", |
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"shape": [ |
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41 |
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] |
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}, |
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"observation.robot0_eef_pos": { |
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"dtype": "float32", |
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"shape": [ |
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3 |
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] |
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}, |
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"observation.robot0_eef_quat": { |
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"dtype": "float32", |
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"shape": [ |
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4 |
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] |
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}, |
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"observation.robot0_eef_quat_site": { |
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"dtype": "float32", |
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"shape": [ |
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4 |
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] |
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}, |
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"observation.robot0_gripper_qpos": { |
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"dtype": "float32", |
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"shape": [ |
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2 |
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] |
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}, |
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"observation.robot0_gripper_qvel": { |
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"dtype": "float32", |
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"shape": [ |
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2 |
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] |
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}, |
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"observation.robot0_joint_acc": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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] |
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}, |
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"observation.robot0_joint_pos": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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] |
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}, |
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"observation.robot0_joint_pos_cos": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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] |
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}, |
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"observation.robot0_joint_pos_sin": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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] |
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}, |
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"observation.robot0_joint_vel": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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] |
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}, |
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"observation.robot0_proprio-state": { |
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"dtype": "float32", |
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"shape": [ |
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50 |
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] |
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}, |
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"observation.task_idx": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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] |
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}, |
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"timestamp": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"task_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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} |
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} |
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} |
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``` |
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## Citation |
|
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|
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**BibTeX:** |
|
|
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|
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```bibtex |
|
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[More Information Needed] |
|
|
``` |
