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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "hand",
"total_episodes": 3,
"total_frames": 632,
"total_tasks": 3,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:3"
},
"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": {
"observation.image": {
"dtype": "video",
"shape": [
1080,
1920,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 1080,
"video.width": 1920,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
48
],
"names": [
"left_wrist_x",
"left_wrist_y",
"left_wrist_z",
"left_rot_0",
"left_rot_1",
"left_rot_2",
"left_rot_3",
"left_rot_4",
"left_rot_5",
"left_thumb_x",
"left_thumb_y",
"left_thumb_z",
"left_index_x",
"left_index_y",
"left_index_z",
"left_middle_x",
"left_middle_y",
"left_middle_z",
"left_ring_x",
"left_ring_y",
"left_ring_z",
"left_little_x",
"left_little_y",
"left_little_z",
"right_wrist_x",
"right_wrist_y",
"right_wrist_z",
"right_rot_0",
"right_rot_1",
"right_rot_2",
"right_rot_3",
"right_rot_4",
"right_rot_5",
"right_thumb_x",
"right_thumb_y",
"right_thumb_z",
"right_index_x",
"right_index_y",
"right_index_z",
"right_middle_x",
"right_middle_y",
"right_middle_z",
"right_ring_x",
"right_ring_y",
"right_ring_z",
"right_little_x",
"right_little_y",
"right_little_z"
]
},
"observation.extrinsics": {
"dtype": "float32",
"shape": [
16
],
"names": [
"extrinsic_0",
"extrinsic_1",
"extrinsic_2",
"extrinsic_3",
"extrinsic_4",
"extrinsic_5",
"extrinsic_6",
"extrinsic_7",
"extrinsic_8",
"extrinsic_9",
"extrinsic_10",
"extrinsic_11",
"extrinsic_12",
"extrinsic_13",
"extrinsic_14",
"extrinsic_15"
]
},
"action": {
"dtype": "float32",
"shape": [
48
],
"names": [
"action_0",
"action_1",
"action_2",
"action_3",
"action_4",
"action_5",
"action_6",
"action_7",
"action_8",
"action_9",
"action_10",
"action_11",
"action_12",
"action_13",
"action_14",
"action_15",
"action_16",
"action_17",
"action_18",
"action_19",
"action_20",
"action_21",
"action_22",
"action_23",
"action_24",
"action_25",
"action_26",
"action_27",
"action_28",
"action_29",
"action_30",
"action_31",
"action_32",
"action_33",
"action_34",
"action_35",
"action_36",
"action_37",
"action_38",
"action_39",
"action_40",
"action_41",
"action_42",
"action_43",
"action_44",
"action_45",
"action_46",
"action_47"
]
},
"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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