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": "v3.0",
"robot_type": "openarm_bimanual",
"total_episodes": 2,
"total_frames": 93,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:2"
},
"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": [
16
],
"names": [
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"left_joint7.pos",
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos",
"right_joint7.pos",
"left_gripper.pos",
"right_gripper.pos"
]
},
"observation.velocity": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_joint1.vel",
"left_joint2.vel",
"left_joint3.vel",
"left_joint4.vel",
"left_joint5.vel",
"left_joint6.vel",
"left_joint7.vel",
"right_joint1.vel",
"right_joint2.vel",
"right_joint3.vel",
"right_joint4.vel",
"right_joint5.vel",
"right_joint6.vel",
"right_joint7.vel",
"left_gripper.vel",
"right_gripper.vel"
]
},
"observation.effort": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_joint1.tau",
"left_joint2.tau",
"left_joint3.tau",
"left_joint4.tau",
"left_joint5.tau",
"left_joint6.tau",
"left_joint7.tau",
"right_joint1.tau",
"right_joint2.tau",
"right_joint3.tau",
"right_joint4.tau",
"right_joint5.tau",
"right_joint6.tau",
"right_joint7.tau",
"left_gripper.tau",
"right_gripper.tau"
]
},
"observation.images.head": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.left_eef_pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"observation.right_eef_pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"left_joint7.pos",
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos",
"right_joint7.pos",
"left_gripper.pos",
"right_gripper.pos"
]
},
"action.joint_positions": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"left_joint7.pos",
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos",
"right_joint7.pos",
"left_gripper.pos",
"right_gripper.pos"
]
},
"action.left_eef_delta": {
"dtype": "float32",
"shape": [
7
],
"names": [
"dx",
"dy",
"dz",
"dqx",
"dqy",
"dqz",
"dqw"
]
},
"action.right_eef_delta": {
"dtype": "float32",
"shape": [
7
],
"names": [
"dx",
"dy",
"dz",
"dqx",
"dqy",
"dqz",
"dqw"
]
},
"action.left_gripper": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"action.right_gripper": {
"dtype": "float32",
"shape": [
1
],
"names": [
"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]