Datasets:
metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- icub
- smolvla
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": "icub_mujoco",
"total_episodes": 50,
"total_frames": 28726,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:50"
},
"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": {
"action": {
"dtype": "float32",
"names": [
"rh_pos_x",
"rh_pos_y",
"rh_pos_z",
"rh_quat_w",
"rh_quat_x",
"rh_quat_y",
"rh_quat_z",
"rh_gripper",
"gaze_x",
"gaze_y",
"gaze_z"
],
"shape": [
11
]
},
"observation.state": {
"dtype": "float32",
"names": [
"torso_pitch",
"torso_roll",
"torso_yaw",
"r_shoulder_pitch",
"r_shoulder_roll",
"r_shoulder_yaw",
"r_elbow",
"r_wrist_prosup",
"r_wrist_pitch",
"r_wrist_yaw",
"r_hand_finger",
"r_thumb_oppose",
"r_thumb_proximal",
"r_thumb_distal",
"r_index_proximal",
"r_index_distal",
"r_middle_proximal",
"r_middle_distal",
"r_pinky",
"neck_pitch",
"neck_roll",
"neck_yaw",
"torso_pitch_vel",
"torso_roll_vel",
"torso_yaw_vel",
"r_shoulder_pitch_vel",
"r_shoulder_roll_vel",
"r_shoulder_yaw_vel",
"r_elbow_vel",
"r_wrist_prosup_vel",
"r_wrist_pitch_vel",
"r_wrist_yaw_vel",
"r_hand_finger_vel",
"r_thumb_oppose_vel",
"r_thumb_proximal_vel",
"r_thumb_distal_vel",
"r_index_proximal_vel",
"r_index_distal_vel",
"r_middle_proximal_vel",
"r_middle_distal_vel",
"r_pinky_vel",
"neck_pitch_vel",
"neck_roll_vel",
"neck_yaw_vel",
"rh_ee_pos_x",
"rh_ee_pos_y",
"rh_ee_pos_z",
"rh_ee_quat_w",
"rh_ee_quat_x",
"rh_ee_quat_y",
"rh_ee_quat_z",
"lh_ee_pos_x",
"lh_ee_pos_y",
"lh_ee_pos_z",
"lh_ee_quat_w",
"lh_ee_quat_x",
"lh_ee_quat_y",
"lh_ee_quat_z",
"rh_target_pos_x",
"rh_target_pos_y",
"rh_target_pos_z",
"rh_target_quat_w",
"rh_target_quat_x",
"rh_target_quat_y",
"rh_target_quat_z",
"lh_target_pos_x",
"lh_target_pos_y",
"lh_target_pos_z",
"lh_target_quat_w",
"lh_target_quat_x",
"lh_target_quat_y",
"lh_target_quat_z",
"gaze_target_pos_x",
"gaze_target_pos_y",
"gaze_target_pos_z",
"rh_gripper",
"lh_gripper",
"rh_touch_thumb",
"rh_touch_index",
"rh_touch_middle",
"lh_touch_thumb",
"lh_touch_index",
"lh_touch_middle",
"object_pos_x",
"object_pos_y",
"object_pos_z",
"object_quat_w",
"object_quat_x",
"object_quat_y",
"object_quat_z",
"torso_pitch_torque",
"torso_roll_torque",
"torso_yaw_torque",
"r_shoulder_pitch_torque",
"r_shoulder_roll_torque",
"r_shoulder_yaw_torque",
"r_elbow_torque",
"r_wrist_prosup_torque",
"r_wrist_pitch_torque",
"r_wrist_yaw_torque",
"r_hand_finger_torque",
"r_thumb_oppose_torque",
"r_thumb_proximal_torque",
"r_thumb_distal_torque",
"r_index_proximal_torque",
"r_index_distal_torque",
"r_middle_proximal_torque",
"r_middle_distal_torque",
"r_pinky_torque",
"neck_pitch_torque",
"neck_roll_torque",
"neck_yaw_torque",
"rh_ext_force_x",
"rh_ext_force_y",
"rh_ext_force_z",
"lh_ext_force_x",
"lh_ext_force_y",
"lh_ext_force_z"
],
"shape": [
118
]
},
"observation.images.head_cam": {
"dtype": "video",
"shape": [
3,
240,
320
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.head_cam_track_hand": {
"dtype": "video",
"shape": [
3,
240,
320
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.frontview": {
"dtype": "video",
"shape": [
3,
240,
320
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"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:
[More Information Needed]