metadata
task_categories:
- robotics
tags:
- LeRobot
- robotics
- lerobot
- smoke-test
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
Actual AIC Gazebo observation/action windows for pipeline smoke testing. Not successful insertion demonstrations; no terminal or success labels. Three H.264 MP4 camera videos (224x224), actual TCP pose, absolute base_link TCP position targets and controller parameters. See smoke_summary.json for synchronization, provenance and upload verification.
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: [More Information Needed]
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "ur5e_aic",
"total_episodes": 1,
"total_frames": 13,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:1"
},
"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": [
7
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"source.stamps_ns": {
"dtype": "int64",
"shape": [
6
],
"names": [
"grid",
"left",
"center",
"right",
"state",
"action"
]
},
"controller.parameters": {
"dtype": "float32",
"shape": [
84
],
"names": null
},
"observation.images.left": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.center": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"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]