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",
"fps": 10,
"features": {
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"shape": [
1
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"action.arm_l_joint1.pos": {
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"shape": [
1
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"observation.state.arm_l_joint2.pos": {
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"shape": [
1
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},
"action.arm_l_joint2.pos": {
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1
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"action.arm_l_joint4.pos": {
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1
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1
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"action.arm_l_joint5.pos": {
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"observation.state.arm_l_joint6.pos": {
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"action.arm_l_joint6.pos": {
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"action.arm_l_joint7.pos": {
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"action.arm_r_joint1.pos": {
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"action.arm_r_joint2.pos": {
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"action.arm_r_joint3.pos": {
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"action.arm_r_joint4.pos": {
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"observation.state.arm_r_joint5.pos": {
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"action.arm_r_joint5.pos": {
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"shape": [
1
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"observation.state.arm_r_joint6.pos": {
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"shape": [
1
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},
"action.arm_r_joint6.pos": {
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"shape": [
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"observation.state.arm_r_joint7.pos": {
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},
"action.arm_r_joint7.pos": {
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},
"observation.state.gripper_l_inner_joint1.pos": {
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"shape": [
1
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},
"action.gripper_l_inner_joint1.pos": {
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},
"observation.state.gripper_r_inner_joint1.pos": {
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"action.gripper_r_inner_joint1.pos": {
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"observation.state.head_joint1.pos": {
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"shape": [
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},
"action.head_joint1.pos": {
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"observation.state.head_joint2.pos": {
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"action.head_joint2.pos": {
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"observation.state.head_joint3.pos": {
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"shape": [
1
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},
"action.head_joint3.pos": {
"dtype": "float32",
"shape": [
1
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},
"observation.state.body_joint1.pos": {
"dtype": "float32",
"shape": [
1
]
},
"action.body_joint1.pos": {
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"shape": [
1
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},
"observation.state.body_joint2.pos": {
"dtype": "float32",
"shape": [
1
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},
"action.body_joint2.pos": {
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"shape": [
1
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},
"observation.state.body_joint3.pos": {
"dtype": "float32",
"shape": [
1
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},
"action.body_joint3.pos": {
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1
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"observation.state.body_joint4.pos": {
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1
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"action.body_joint4.pos": {
"dtype": "float32",
"shape": [
1
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},
"observation.state.body_joint5.pos": {
"dtype": "float32",
"shape": [
1
]
},
"action.body_joint5.pos": {
"dtype": "float32",
"shape": [
1
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},
"observation.images.head": {
"dtype": "video",
"shape": [
400,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 400,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 10,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.left_wrist": {
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"shape": [
1056,
1280,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 1056,
"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 10,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.right_wrist": {
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"shape": [
1056,
1280,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 1056,
"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 10,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
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],
"names": null
},
"task_index": {
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"shape": [
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],
"names": null
}
},
"total_episodes": 3,
"total_frames": 329,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": "agibot_g2",
"splits": {
"train": "0:3"
}
}
Citation
BibTeX:
[More Information Needed]