omri-manual/openarm_pick_v6

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "left_joint1",
                "left_joint2",
                "left_joint3",
                "left_joint4",
                "left_joint5",
                "left_joint6",
                "left_joint7",
                "left_gripper",
                "right_joint1",
                "right_joint2",
                "right_joint3",
                "right_joint4",
                "right_joint5",
                "right_joint6",
                "right_joint7",
                "right_gripper"
            ],
            "fps": 30
        },
        "action": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "left_joint1",
                "left_joint2",
                "left_joint3",
                "left_joint4",
                "left_joint5",
                "left_joint6",
                "left_joint7",
                "left_gripper",
                "right_joint1",
                "right_joint2",
                "right_joint3",
                "right_joint4",
                "right_joint5",
                "right_joint6",
                "right_joint7",
                "right_gripper"
            ],
            "fps": 30
        },
        "observation.images.head": {
            "dtype": "video",
            "shape": [
                360,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 480,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_left": {
            "dtype": "video",
            "shape": [
                360,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 480,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_right": {
            "dtype": "video",
            "shape": [
                360,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 480,
                "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,
            "fps": 30
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        }
    },
    "total_episodes": 100,
    "total_frames": 65190,
    "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": "openarm_bimanual",
    "splits": {
        "train": "0:100"
    }
}

Citation

BibTeX:

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