metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- LeRobot
- taco_play
- rlds
- openx
- franka
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": "v3.0",
"robot_type": "franka",
"total_episodes": 3242,
"total_frames": 213972,
"total_tasks": 403,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:3242"
},
"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.images.rgb_static": {
"dtype": "video",
"shape": [
150,
200,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 150,
"video.width": 200,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.rgb_gripper": {
"dtype": "video",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 84,
"video.width": 84,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"state.eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"state.eef_rpy": {
"dtype": "float32",
"shape": [
3
],
"names": [
"roll",
"pitch",
"yaw"
]
},
"state.eef_rot6d": {
"dtype": "float32",
"shape": [
6
],
"names": [
"rot1",
"rot2",
"rot3",
"rot4",
"rot5",
"rot6"
]
},
"state.joint_pos": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
},
"state.gripper_state": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
10
],
"names": [
"x",
"y",
"z",
"rot1",
"rot2",
"rot3",
"rot4",
"rot5",
"rot6",
"gripper"
]
},
"action.diff_eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"action.diff_eef_rpy": {
"dtype": "float32",
"shape": [
3
],
"names": [
"roll",
"pitch",
"yaw"
]
},
"action.world_eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"action.world_eef_rot6d": {
"dtype": "float32",
"shape": [
6
],
"names": [
"rot1",
"rot2",
"rot3",
"rot4",
"rot5",
"rot6"
]
},
"action.gripper_eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"action.gripper_eef_rot6d": {
"dtype": "float32",
"shape": [
6
],
"names": [
"rot1",
"rot2",
"rot3",
"rot4",
"rot5",
"rot6"
]
},
"action.diff_joint_pos": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
},
"action.diff_eef_xyz_command": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"action.diff_eef_rpy_command": {
"dtype": "float32",
"shape": [
3
],
"names": [
"roll",
"pitch",
"yaw"
]
},
"action.world_eef_xyz_command": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"action.world_eef_rot6d_command": {
"dtype": "float32",
"shape": [
6
],
"names": [
"rot1",
"rot2",
"rot3",
"rot4",
"rot5",
"rot6"
]
},
"action.gripper_eef_xyz_command": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"action.gripper_eef_rot6d_command": {
"dtype": "float32",
"shape": [
6
],
"names": [
"rot1",
"rot2",
"rot3",
"rot4",
"rot5",
"rot6"
]
},
"action.gripper_state": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
10
],
"names": [
"x",
"y",
"z",
"rot1",
"rot2",
"rot3",
"rot4",
"rot5",
"rot6",
"gripper"
]
},
"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]