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": "v2.1",
"robot_type": "arx_arm",
"total_episodes": 1,
"total_frames": 70,
"total_tasks": 1,
"total_videos": 1,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"delta_x.pos",
"delta_y.pos",
"delta_z.pos",
"delta_roll.pos",
"delta_pitch.pos",
"delta_yaw.pos",
"delta_gripper.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
27
],
"names": [
"end_effector_pos.x",
"end_effector_pos.y",
"end_effector_pos.z",
"end_effector_pos.roll",
"end_effector_pos.pitch",
"end_effector_pos.yaw",
"joint_1.pos",
"joint_1.vel",
"joint_1.cur",
"joint_2.pos",
"joint_2.vel",
"joint_2.cur",
"joint_3.pos",
"joint_3.vel",
"joint_3.cur",
"joint_4.pos",
"joint_4.vel",
"joint_4.cur",
"joint_5.pos",
"joint_5.vel",
"joint_5.cur",
"joint_6.pos",
"joint_6.vel",
"joint_6.cur",
"gripper.pos",
"gripper.vel",
"gripper.cur"
]
},
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"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
}
},
"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]