| --- |
| license: other |
| task_categories: |
| - robotics |
| license_name: poke-and-wiggle-proprietary |
| license_link: LICENSE |
| tags: |
| - LeRobot |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Dataset Description |
|
|
| - **Homepage:** https://huggingface.co/datasets/pokeandwiggle/success_data |
| - **License:** [Poke & Wiggle Proprietary License (Agreement Required)](https://huggingface.co/datasets/pokeandwiggle/success_data/blob/main/LICENSE) |
| |
| ## Dataset Structure |
| |
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "robot_type": "dual_fr3_pedestal", |
| "total_episodes": 4820, |
| "total_frames": 4401299, |
| "total_tasks": 41, |
| "chunks_size": 100, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:4820" |
| }, |
| "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.state": { |
| "dtype": "float32", |
| "shape": [ |
| 16 |
| ], |
| "names": [ |
| "tcp_left_pos_x", |
| "tcp_left_pos_y", |
| "tcp_left_pos_z", |
| "tcp_left_quat_x", |
| "tcp_left_quat_y", |
| "tcp_left_quat_z", |
| "tcp_left_quat_w", |
| "tcp_right_pos_x", |
| "tcp_right_pos_y", |
| "tcp_right_pos_z", |
| "tcp_right_quat_x", |
| "tcp_right_quat_y", |
| "tcp_right_quat_z", |
| "tcp_right_quat_w", |
| "gripper_left", |
| "gripper_right" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 16 |
| ], |
| "names": [ |
| "tcp_left_pos_x", |
| "tcp_left_pos_y", |
| "tcp_left_pos_z", |
| "tcp_left_quat_x", |
| "tcp_left_quat_y", |
| "tcp_left_quat_z", |
| "tcp_left_quat_w", |
| "tcp_right_pos_x", |
| "tcp_right_pos_y", |
| "tcp_right_pos_z", |
| "tcp_right_quat_x", |
| "tcp_right_quat_y", |
| "tcp_right_quat_z", |
| "tcp_right_quat_w", |
| "gripper_left", |
| "gripper_right" |
| ] |
| }, |
| "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 |
| }, |
| "observation.images.rgb_static": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.rgb_left": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.rgb_right": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| } |
| } |
| } |
| ``` |
| |
|
|
