README.md

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

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "franka_panda_ros2",
    "total_episodes": 0,
    "total_frames": 0,
    "total_tasks": 0,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 15,
    "splits": {},
    "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": [
                "eef_pos_x",
                "eef_pos_y",
                "eef_pos_z",
                "eef_R00",
                "eef_R01",
                "eef_R02",
                "eef_R10",
                "eef_R11",
                "eef_R12",
                "eef_R20",
                "eef_R21",
                "eef_R22",
                "gripper_pos"
            ],
            "shape": [
                13
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint_pos.panda_joint1",
                "joint_vel.panda_joint1",
                "joint_pos.panda_joint2",
                "joint_vel.panda_joint2",
                "joint_pos.panda_joint3",
                "joint_vel.panda_joint3",
                "joint_pos.panda_joint4",
                "joint_vel.panda_joint4",
                "joint_pos.panda_joint5",
                "joint_vel.panda_joint5",
                "joint_pos.panda_joint6",
                "joint_vel.panda_joint6",
                "joint_pos.panda_joint7",
                "joint_vel.panda_joint7",
                "eef_pos_x",
                "eef_pos_y",
                "eef_pos_z",
                "eef_R00",
                "eef_R01",
                "eef_R02",
                "eef_R10",
                "eef_R11",
                "eef_R12",
                "eef_R20",
                "eef_R21",
                "eef_R22",
                "gripper_pos"
            ],
            "shape": [
                27
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "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]