| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Dataset Description |
|
|
|
|
|
|
| - **Homepage:** [More Information Needed] |
| - **Paper:** [More Information Needed] |
| - **License:** apache-2.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "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:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
