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Datasets:
younghyopark
/
pick_tblock_mp_centered_0701_128_render

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
Libraries:
Datasets
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License:
Dataset card Data Studio Files
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1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - LeRobot
7
+ configs:
8
+ - config_name: default
9
+ data_files: data/*/*.parquet
10
+ ---
11
+
12
+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
13
+
14
+ ## Dataset Description
15
+
16
+
17
+
18
+ - **Homepage:** [More Information Needed]
19
+ - **Paper:** [More Information Needed]
20
+ - **License:** apache-2.0
21
+
22
+ ## Dataset Structure
23
+
24
+ [meta/info.json](meta/info.json):
25
+ ```json
26
+ {
27
+ "codebase_version": "v2.1",
28
+ "robot_type": "dual_panda_robotiq_ee",
29
+ "total_episodes": 1,
30
+ "total_frames": 207,
31
+ "total_tasks": 1,
32
+ "total_videos": 13,
33
+ "total_chunks": 1,
34
+ "chunks_size": 1000,
35
+ "fps": 50,
36
+ "splits": {
37
+ "train": "0:1"
38
+ },
39
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
40
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
41
+ "features": {
42
+ "observation.joint": {
43
+ "dtype": "float32",
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+ "shape": [
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+ 16
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+ ],
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+ "names": [
48
+ "l_robot/joint1",
49
+ "l_robot/joint2",
50
+ "l_robot/joint3",
51
+ "l_robot/joint4",
52
+ "l_robot/joint5",
53
+ "l_robot/joint6",
54
+ "l_robot/joint7",
55
+ "l_robot/right_driver_joint",
56
+ "l_robot/right_coupler_joint",
57
+ "l_robot/right_spring_link_joint",
58
+ "l_robot/right_follower_joint",
59
+ "l_robot/left_driver_joint",
60
+ "l_robot/left_coupler_joint",
61
+ "l_robot/left_spring_link_joint",
62
+ "l_robot/left_follower_joint",
63
+ "r_robot/joint1",
64
+ "r_robot/joint2",
65
+ "r_robot/joint3",
66
+ "r_robot/joint4",
67
+ "r_robot/joint5",
68
+ "r_robot/joint6",
69
+ "r_robot/joint7",
70
+ "r_robot/right_driver_joint",
71
+ "r_robot/right_coupler_joint",
72
+ "r_robot/right_spring_link_joint",
73
+ "r_robot/right_follower_joint",
74
+ "r_robot/left_driver_joint",
75
+ "r_robot/left_coupler_joint",
76
+ "r_robot/left_spring_link_joint",
77
+ "r_robot/left_follower_joint"
78
+ ]
79
+ },
80
+ "observation.state": {
81
+ "dtype": "float32",
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+ "shape": [
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+ 30
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+ ],
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+ "names": [
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+ "l_robot/joint1",
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+ "l_robot/joint2",
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+ "l_robot/joint3",
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+ "l_robot/joint4",
90
+ "l_robot/joint5",
91
+ "l_robot/joint6",
92
+ "l_robot/joint7",
93
+ "l_robot/right_driver_joint",
94
+ "l_robot/right_coupler_joint",
95
+ "l_robot/right_spring_link_joint",
96
+ "l_robot/right_follower_joint",
97
+ "l_robot/left_driver_joint",
98
+ "l_robot/left_coupler_joint",
99
+ "l_robot/left_spring_link_joint",
100
+ "l_robot/left_follower_joint",
101
+ "r_robot/joint1",
102
+ "r_robot/joint2",
103
+ "r_robot/joint3",
104
+ "r_robot/joint4",
105
+ "r_robot/joint5",
106
+ "r_robot/joint6",
107
+ "r_robot/joint7",
108
+ "r_robot/right_driver_joint",
109
+ "r_robot/right_coupler_joint",
110
+ "r_robot/right_spring_link_joint",
111
+ "r_robot/right_follower_joint",
112
+ "r_robot/left_driver_joint",
113
+ "r_robot/left_coupler_joint",
114
+ "r_robot/left_spring_link_joint",
115
+ "r_robot/left_follower_joint"
116
+ ]
117
+ },
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+ "observation.environment_state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "names": [
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+ "tblock_px",
125
+ "tblock_py",
126
+ "tblock_pz",
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+ "tblock_qw",
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+ "tblock_qx",
129
+ "tblock_qy",
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+ "tblock_qz"
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+ ]
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+ },
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+ "observation.environment.block_xy": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2
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+ ],
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+ "names": [
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+ "block_x",
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+ "block_y"
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+ ]
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+ },
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+ "observation.right_arm.joint": {
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+ "dtype": "float32",
145
+ "shape": [
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+ 7
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+ ]
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+ },
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+ "observation.right.joint": {
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+ "dtype": "float32",
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+ "shape": [
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+ 8
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+ ]
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+ },
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+ "observation.left_arm.joint": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ]
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+ },
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+ "observation.qvel": {
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+ "dtype": "float32",
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+ "shape": [
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+ 30
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+ ],
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+ "names": [
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+ "l_robot/joint1",
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+ "l_robot/joint2",
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+ "l_robot/joint3",
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+ "l_robot/joint4",
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+ "l_robot/joint5",
172
+ "l_robot/joint6",
173
+ "l_robot/joint7",
174
+ "l_robot/right_driver_joint",
175
+ "l_robot/right_coupler_joint",
176
+ "l_robot/right_spring_link_joint",
177
+ "l_robot/right_follower_joint",
178
+ "l_robot/left_driver_joint",
179
+ "l_robot/left_coupler_joint",
180
+ "l_robot/left_spring_link_joint",
181
+ "l_robot/left_follower_joint",
182
+ "r_robot/joint1",
183
+ "r_robot/joint2",
184
+ "r_robot/joint3",
185
+ "r_robot/joint4",
186
+ "r_robot/joint5",
187
+ "r_robot/joint6",
188
+ "r_robot/joint7",
189
+ "r_robot/right_driver_joint",
190
+ "r_robot/right_coupler_joint",
191
+ "r_robot/right_spring_link_joint",
192
+ "r_robot/right_follower_joint",
193
+ "r_robot/left_driver_joint",
194
+ "r_robot/left_coupler_joint",
195
+ "r_robot/left_spring_link_joint",
196
+ "r_robot/left_follower_joint"
197
+ ]
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+ },
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+ "observation.env_qvel": {
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+ "dtype": "float32",
201
+ "shape": [
202
+ 6
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+ ],
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+ "names": [
205
+ "tblock_vx",
206
+ "tblock_vy",
207
+ "tblock_vz",
208
+ "tblock_wx",
209
+ "tblock_wy",
210
+ "tblock_wz"
211
+ ]
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+ },
213
+ "observation.ee_pose": {
214
+ "dtype": "float32",
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+ "shape": [
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+ 16
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+ ],
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+ "names": [
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+ "l_robot/hand_x",
220
+ "l_robot/hand_y",
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+ "l_robot/hand_z",
222
+ "l_robot/hand_qw",
223
+ "l_robot/hand_qx",
224
+ "l_robot/hand_qy",
225
+ "l_robot/hand_qz",
226
+ "l_robot/gripper",
227
+ "r_robot/hand_x",
228
+ "r_robot/hand_y",
229
+ "r_robot/hand_z",
230
+ "r_robot/hand_qw",
231
+ "r_robot/hand_qx",
232
+ "r_robot/hand_qy",
233
+ "r_robot/hand_qz",
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+ "r_robot/gripper"
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+ ]
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+ },
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+ "action.ctrl": {
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+ "dtype": "float32",
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+ "shape": [
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+ 16
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+ ],
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+ "names": [
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+ "l_robot/actuator1",
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+ "l_robot/actuator2",
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+ "l_robot/actuator3",
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+ "l_robot/actuator4",
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+ "l_robot/actuator5",
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+ "l_robot/actuator6",
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+ "l_robot/actuator7",
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+ "l_robot/fingers_actuator",
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+ "r_robot/actuator1",
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+ "r_robot/actuator2",
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+ "r_robot/actuator3",
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+ "r_robot/actuator4",
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+ "r_robot/actuator5",
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+ "r_robot/actuator6",
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+ "r_robot/actuator7",
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+ "r_robot/fingers_actuator"
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+ ]
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+ },
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+ "action.joint": {
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+ "dtype": "float32",
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+ "shape": [
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+ 16
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+ ],
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+ "names": [
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+ "l_robot/actuator1",
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+ "l_robot/actuator2",
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+ "l_robot/actuator3",
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+ "l_robot/actuator4",
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+ "l_robot/actuator5",
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+ "l_robot/actuator6",
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+ "l_robot/actuator7",
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+ "l_robot/fingers_actuator",
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+ "r_robot/actuator1",
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+ "r_robot/actuator2",
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+ "r_robot/actuator3",
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+ "r_robot/actuator4",
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+ "r_robot/actuator5",
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+ "r_robot/actuator6",
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+ "r_robot/actuator7",
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+ "r_robot/fingers_actuator"
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+ ]
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+ },
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+ "action.ee_pose": {
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+ "dtype": "float32",
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+ "shape": [
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+ 16
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+ ],
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+ "names": [
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+ "l_robot/hand_x",
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+ "l_robot/hand_y",
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+ "l_robot/hand_z",
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+ "l_robot/hand_qw",
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+ "l_robot/hand_qx",
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+ "l_robot/hand_qy",
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+ "l_robot/hand_qz",
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+ "l_robot/gripper",
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+ "r_robot/hand_x",
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+ "r_robot/hand_y",
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+ "r_robot/hand_z",
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+ "r_robot/hand_qw",
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+ "r_robot/hand_qx",
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+ "r_robot/hand_qy",
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+ "r_robot/hand_qz",
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+ "r_robot/gripper"
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+ ]
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+ },
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+ "action.right_arm.joint": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ]
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+ },
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+ "action.right.joint": {
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+ "dtype": "float32",
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+ "shape": [
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+ ]
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+ },
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+ "action.left_arm.joint": {
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+ "shape": [
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+ ]
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+ },
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+ "action.right_arm.joint.relative": {
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+ ]
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+ },
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+ "action.left_arm.joint.relative": {
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+ ],
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+ ],
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+ ],
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+ ],
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+ "names": [
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+ ],
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.environment.main_camera.image.aug1": {
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+ "dtype": "video",
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+ "shape": [
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ "observation.environment.main_camera.image.aug10": {
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+ "shape": [
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "shape": [
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+ "video.height": 128,
583
+ "video.width": 128,
584
+ "video.channels": 3,
585
+ "video.codec": "h264",
586
+ "video.pix_fmt": "yuv420p",
587
+ "video.is_depth_map": false,
588
+ "has_audio": false
589
+ }
590
+ },
591
+ "observation.environment.main_camera.image.aug12": {
592
+ "dtype": "video",
593
+ "shape": [
594
+ 128,
595
+ 128,
596
+ 3
597
+ ],
598
+ "names": [
599
+ "video"
600
+ ],
601
+ "info": {
602
+ "video.fps": 50.0,
603
+ "video.height": 128,
604
+ "video.width": 128,
605
+ "video.channels": 3,
606
+ "video.codec": "h264",
607
+ "video.pix_fmt": "yuv420p",
608
+ "video.is_depth_map": false,
609
+ "has_audio": false
610
+ }
611
+ },
612
+ "observation.environment.main_camera.image.aug2": {
613
+ "dtype": "video",
614
+ "shape": [
615
+ 128,
616
+ 128,
617
+ 3
618
+ ],
619
+ "names": [
620
+ "video"
621
+ ],
622
+ "info": {
623
+ "video.fps": 50.0,
624
+ "video.height": 128,
625
+ "video.width": 128,
626
+ "video.channels": 3,
627
+ "video.codec": "h264",
628
+ "video.pix_fmt": "yuv420p",
629
+ "video.is_depth_map": false,
630
+ "has_audio": false
631
+ }
632
+ },
633
+ "observation.environment.main_camera.image.aug3": {
634
+ "dtype": "video",
635
+ "shape": [
636
+ 128,
637
+ 128,
638
+ 3
639
+ ],
640
+ "names": [
641
+ "video"
642
+ ],
643
+ "info": {
644
+ "video.fps": 50.0,
645
+ "video.height": 128,
646
+ "video.width": 128,
647
+ "video.channels": 3,
648
+ "video.codec": "h264",
649
+ "video.pix_fmt": "yuv420p",
650
+ "video.is_depth_map": false,
651
+ "has_audio": false
652
+ }
653
+ },
654
+ "observation.environment.main_camera.image.aug4": {
655
+ "dtype": "video",
656
+ "shape": [
657
+ 128,
658
+ 128,
659
+ 3
660
+ ],
661
+ "names": [
662
+ "video"
663
+ ],
664
+ "info": {
665
+ "video.fps": 50.0,
666
+ "video.height": 128,
667
+ "video.width": 128,
668
+ "video.channels": 3,
669
+ "video.codec": "h264",
670
+ "video.pix_fmt": "yuv420p",
671
+ "video.is_depth_map": false,
672
+ "has_audio": false
673
+ }
674
+ },
675
+ "observation.environment.main_camera.image.aug5": {
676
+ "dtype": "video",
677
+ "shape": [
678
+ 128,
679
+ 128,
680
+ 3
681
+ ],
682
+ "names": [
683
+ "video"
684
+ ],
685
+ "info": {
686
+ "video.fps": 50.0,
687
+ "video.height": 128,
688
+ "video.width": 128,
689
+ "video.channels": 3,
690
+ "video.codec": "h264",
691
+ "video.pix_fmt": "yuv420p",
692
+ "video.is_depth_map": false,
693
+ "has_audio": false
694
+ }
695
+ },
696
+ "observation.environment.main_camera.image.aug6": {
697
+ "dtype": "video",
698
+ "shape": [
699
+ 128,
700
+ 128,
701
+ 3
702
+ ],
703
+ "names": [
704
+ "video"
705
+ ],
706
+ "info": {
707
+ "video.fps": 50.0,
708
+ "video.height": 128,
709
+ "video.width": 128,
710
+ "video.channels": 3,
711
+ "video.codec": "h264",
712
+ "video.pix_fmt": "yuv420p",
713
+ "video.is_depth_map": false,
714
+ "has_audio": false
715
+ }
716
+ },
717
+ "observation.environment.main_camera.image.aug7": {
718
+ "dtype": "video",
719
+ "shape": [
720
+ 128,
721
+ 128,
722
+ 3
723
+ ],
724
+ "names": [
725
+ "video"
726
+ ],
727
+ "info": {
728
+ "video.fps": 50.0,
729
+ "video.height": 128,
730
+ "video.width": 128,
731
+ "video.channels": 3,
732
+ "video.codec": "h264",
733
+ "video.pix_fmt": "yuv420p",
734
+ "video.is_depth_map": false,
735
+ "has_audio": false
736
+ }
737
+ },
738
+ "observation.environment.main_camera.image.aug8": {
739
+ "dtype": "video",
740
+ "shape": [
741
+ 128,
742
+ 128,
743
+ 3
744
+ ],
745
+ "names": [
746
+ "video"
747
+ ],
748
+ "info": {
749
+ "video.fps": 50.0,
750
+ "video.height": 128,
751
+ "video.width": 128,
752
+ "video.channels": 3,
753
+ "video.codec": "h264",
754
+ "video.pix_fmt": "yuv420p",
755
+ "video.is_depth_map": false,
756
+ "has_audio": false
757
+ }
758
+ },
759
+ "observation.environment.main_camera.image.aug9": {
760
+ "dtype": "video",
761
+ "shape": [
762
+ 128,
763
+ 128,
764
+ 3
765
+ ],
766
+ "names": [
767
+ "video"
768
+ ],
769
+ "info": {
770
+ "video.fps": 50.0,
771
+ "video.height": 128,
772
+ "video.width": 128,
773
+ "video.channels": 3,
774
+ "video.codec": "h264",
775
+ "video.pix_fmt": "yuv420p",
776
+ "video.is_depth_map": false,
777
+ "has_audio": false
778
+ }
779
+ }
780
+ }
781
+ }
782
+ ```
783
+
784
+
785
+ ## Citation
786
+
787
+ **BibTeX:**
788
+
789
+ ```bibtex
790
+ [More Information Needed]
791
+ ```