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Datasets:
ry-5
/
data_grapes

Tasks:
Robotics
Modalities:
Tabular
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
data_grapes
File size: 2,192 Bytes
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{
  "codebase_version": "v2.0",
  "robot_type": "fr5",
  "total_episodes": 100,
  "total_frames": 120000,
  "fps": 30.00622973375114,
  "chunks_size": 1000,
  "total_tasks": 1,
  "cameras": [
    "observation.images.cam_base",
    "observation.images.cam_wrist"
  ],
  "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",
  "video_pattern": "videos/chunk-000/{camera}/episode_{episode_index:06d}.mp4",
  "features": {
    "observation.state": {
      "dtype": "float32",
      "shape": [
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      ],
      "names": [
        [
          "base",
          "shoulder",
          "elbow",
          "wrist_1",
          "wrist_2",
          "wrist_3",
          "gripper"
        ]
      ]
    },
    "action": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": [
        [
          "base",
          "shoulder",
          "elbow",
          "wrist_1",
          "wrist_2",
          "wrist_3",
          "gripper"
        ]
      ]
    },
    "observation.velocity": {
      "dtype": "float32",
      "shape": [
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      ]
    },
    "observation.effort": {
      "dtype": "float32",
      "shape": [
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      ]
    },
    "observation.weight": {
      "dtype": "float32",
      "shape": [
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      ]
    },
    "observation.images.cam_base": {
      "dtype": "video",
      "shape": [
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        480,
        640
      ],
      "names": [
        "channels",
        "height",
        "width"
      ],
      "video_info": {
        "video.fps": 30.0,
        "video.codec": "mpeg4",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    },
    "observation.images.cam_wrist": {
      "dtype": "video",
      "shape": [
        3,
        480,
        640
      ],
      "names": [
        "channels",
        "height",
        "width"
      ],
      "video_info": {
        "video.fps": 30.0,
        "video.codec": "mpeg4",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    }
  }
}