Datasets:
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": "franka_fer_xhand",
"total_episodes": 100,
"total_frames": 32007,
"total_tasks": 1,
"total_videos": 300,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:100"
},
"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": [
19
],
"names": [
"arm_joint_0.pos",
"arm_joint_1.pos",
"arm_joint_2.pos",
"arm_joint_3.pos",
"arm_joint_4.pos",
"arm_joint_5.pos",
"arm_joint_6.pos",
"hand_joint_0.pos",
"hand_joint_1.pos",
"hand_joint_2.pos",
"hand_joint_3.pos",
"hand_joint_4.pos",
"hand_joint_5.pos",
"hand_joint_6.pos",
"hand_joint_7.pos",
"hand_joint_8.pos",
"hand_joint_9.pos",
"hand_joint_10.pos",
"hand_joint_11.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
54
],
"names": [
"arm_joint_0.pos",
"arm_joint_1.pos",
"arm_joint_2.pos",
"arm_joint_3.pos",
"arm_joint_4.pos",
"arm_joint_5.pos",
"arm_joint_6.pos",
"arm_joint_0.vel",
"arm_joint_1.vel",
"arm_joint_2.vel",
"arm_joint_3.vel",
"arm_joint_4.vel",
"arm_joint_5.vel",
"arm_joint_6.vel",
"arm_ee_pose.00",
"arm_ee_pose.01",
"arm_ee_pose.02",
"arm_ee_pose.03",
"arm_ee_pose.04",
"arm_ee_pose.05",
"arm_ee_pose.06",
"arm_ee_pose.07",
"arm_ee_pose.08",
"arm_ee_pose.09",
"arm_ee_pose.10",
"arm_ee_pose.11",
"arm_ee_pose.12",
"arm_ee_pose.13",
"arm_ee_pose.14",
"arm_ee_pose.15",
"hand_joint_0.pos",
"hand_joint_1.pos",
"hand_joint_2.pos",
"hand_joint_3.pos",
"hand_joint_4.pos",
"hand_joint_5.pos",
"hand_joint_6.pos",
"hand_joint_7.pos",
"hand_joint_8.pos",
"hand_joint_9.pos",
"hand_joint_10.pos",
"hand_joint_11.pos",
"hand_joint_0.torque",
"hand_joint_1.torque",
"hand_joint_2.torque",
"hand_joint_3.torque",
"hand_joint_4.torque",
"hand_joint_5.torque",
"hand_joint_6.torque",
"hand_joint_7.torque",
"hand_joint_8.torque",
"hand_joint_9.torque",
"hand_joint_10.torque",
"hand_joint_11.torque"
]
},
"observation.images.tpv": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.overhead": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 320,
"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]