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--- |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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tags: |
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- LeRobot |
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configs: |
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- config_name: default |
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data_files: data/*/*.parquet |
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--- |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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## Dataset Description |
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- **Homepage:** [More Information Needed] |
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- **Paper:** [More Information Needed] |
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- **License:** apache-2.0 |
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## Dataset Structure |
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[meta/info.json](meta/info.json): |
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```json |
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{ |
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"codebase_version": "v2.1", |
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"robot_type": "dual_panda_robotiq_ee", |
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"total_episodes": 1, |
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"total_frames": 207, |
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"total_tasks": 1, |
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"total_videos": 13, |
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"total_chunks": 1, |
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"chunks_size": 1000, |
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"fps": 50, |
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"splits": { |
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"train": "0:1" |
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}, |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
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"features": { |
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"observation.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/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", |
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"l_robot/joint6", |
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"l_robot/joint7", |
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"l_robot/right_driver_joint", |
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"l_robot/right_coupler_joint", |
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"l_robot/right_spring_link_joint", |
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"l_robot/right_follower_joint", |
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"l_robot/left_driver_joint", |
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"l_robot/left_coupler_joint", |
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"l_robot/left_spring_link_joint", |
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"l_robot/left_follower_joint", |
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"r_robot/joint1", |
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"r_robot/joint2", |
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"r_robot/joint3", |
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"r_robot/joint4", |
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"r_robot/joint5", |
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"r_robot/joint6", |
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"r_robot/joint7", |
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"r_robot/right_driver_joint", |
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"r_robot/right_coupler_joint", |
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"r_robot/right_spring_link_joint", |
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"r_robot/right_follower_joint", |
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"r_robot/left_driver_joint", |
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"r_robot/left_coupler_joint", |
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"r_robot/left_spring_link_joint", |
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"r_robot/left_follower_joint" |
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] |
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}, |
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"observation.state": { |
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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", |
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"l_robot/joint6", |
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"l_robot/joint7", |
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"l_robot/right_driver_joint", |
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"l_robot/right_coupler_joint", |
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"l_robot/right_spring_link_joint", |
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"l_robot/right_follower_joint", |
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"l_robot/left_driver_joint", |
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"l_robot/left_coupler_joint", |
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"l_robot/left_spring_link_joint", |
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"l_robot/left_follower_joint", |
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"r_robot/joint1", |
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"r_robot/joint2", |
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"r_robot/joint3", |
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"r_robot/joint4", |
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"r_robot/joint5", |
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"r_robot/joint6", |
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"r_robot/joint7", |
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"r_robot/right_driver_joint", |
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"r_robot/right_coupler_joint", |
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"r_robot/right_spring_link_joint", |
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"r_robot/right_follower_joint", |
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"r_robot/left_driver_joint", |
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"r_robot/left_coupler_joint", |
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"r_robot/left_spring_link_joint", |
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"r_robot/left_follower_joint" |
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] |
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}, |
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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", |
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"tblock_py", |
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"tblock_pz", |
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"tblock_qw", |
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"tblock_qx", |
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"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", |
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"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", |
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"l_robot/joint6", |
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"l_robot/joint7", |
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"l_robot/right_driver_joint", |
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"l_robot/right_coupler_joint", |
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"l_robot/right_spring_link_joint", |
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"l_robot/right_follower_joint", |
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"l_robot/left_driver_joint", |
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"l_robot/left_coupler_joint", |
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"l_robot/left_spring_link_joint", |
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"l_robot/left_follower_joint", |
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"r_robot/joint1", |
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"r_robot/joint2", |
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"r_robot/joint3", |
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"r_robot/joint4", |
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"r_robot/joint5", |
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"r_robot/joint6", |
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"r_robot/joint7", |
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"r_robot/right_driver_joint", |
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"r_robot/right_coupler_joint", |
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"r_robot/right_spring_link_joint", |
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"r_robot/right_follower_joint", |
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"r_robot/left_driver_joint", |
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"r_robot/left_coupler_joint", |
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"r_robot/left_spring_link_joint", |
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"r_robot/left_follower_joint" |
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] |
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}, |
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"observation.env_qvel": { |
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"dtype": "float32", |
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"shape": [ |
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6 |
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], |
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"names": [ |
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"tblock_vx", |
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"tblock_vy", |
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"tblock_vz", |
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"tblock_wx", |
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"tblock_wy", |
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"tblock_wz" |
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] |
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}, |
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"observation.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.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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|
"action.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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"action.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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"action.right_arm.joint.relative": { |
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|
"dtype": "float32", |
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"shape": [ |
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7 |
|
|
] |
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}, |
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|
"action.left_arm.joint.relative": { |
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|
"dtype": "float32", |
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"shape": [ |
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7 |
|
|
] |
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}, |
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"action.joint.relative": { |
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"dtype": "float32", |
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"shape": [ |
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16 |
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|
] |
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}, |
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"timestamp": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
|
|
], |
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|
"names": null |
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}, |
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"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
|
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], |
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"names": null |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
|
|
], |
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"names": null |
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}, |
|
|
"index": { |
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"dtype": "int64", |
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"shape": [ |
|
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1 |
|
|
], |
|
|
"names": null |
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}, |
|
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"task_index": { |
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|
"dtype": "int64", |
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"shape": [ |
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1 |
|
|
], |
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"names": null |
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}, |
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"observation.environment.tblock.center.x": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": [ |
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"x" |
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] |
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}, |
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"observation.environment.tblock.center.y": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": [ |
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"y" |
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] |
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}, |
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"observation.environment.tblock.center.z": { |
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|
"dtype": "float32", |
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|
"shape": [ |
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1 |
|
|
], |
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|
"names": [ |
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|
"z" |
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] |
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}, |
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|
"observation.environment.tblock.center.xy": { |
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|
"dtype": "float32", |
|
|
"shape": [ |
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|
2 |
|
|
], |
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"names": [ |
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"xy" |
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] |
|
|
}, |
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|
"observation.environment.tblock.center.xyz": { |
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|
"dtype": "float32", |
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|
"shape": [ |
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|
3 |
|
|
], |
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"names": [ |
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"xyz" |
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] |
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}, |
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|
"observation.environment.tblock.center.quat": { |
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|
"dtype": "float32", |
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|
"shape": [ |
|
|
4 |
|
|
], |
|
|
"names": [ |
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|
"quat" |
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] |
|
|
}, |
|
|
"observation.environment.tblock.center.euler": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
3 |
|
|
], |
|
|
"names": [ |
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|
"euler" |
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|
] |
|
|
}, |
|
|
"observation.environment.tblock.center.posquat": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": [ |
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|
"posquat" |
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|
] |
|
|
}, |
|
|
"observation.environment.tblock.center.xaxis": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
3 |
|
|
], |
|
|
"names": [ |
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|
"xaxis" |
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|
] |
|
|
}, |
|
|
"observation.environment.tblock.center.yaxis": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
3 |
|
|
], |
|
|
"names": [ |
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|
"yaxis" |
|
|
] |
|
|
}, |
|
|
"observation.environment.tblock.center.zaxis": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"zaxis" |
|
|
] |
|
|
}, |
|
|
"observation.environment.tblock.center.mat": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
3, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"mat" |
|
|
] |
|
|
}, |
|
|
"observation.environment.tblock.center.full_mat": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
16 |
|
|
], |
|
|
"names": [ |
|
|
"full_mat" |
|
|
] |
|
|
}, |
|
|
"observation.environment.tblock.center.reduced_mat": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
12 |
|
|
], |
|
|
"names": [ |
|
|
"reduced_mat" |
|
|
] |
|
|
}, |
|
|
"observation.environment.main_camera.image": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
360, |
|
|
640, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"video" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 50.0, |
|
|
"video.height": 360, |
|
|
"video.width": 640, |
|
|
"video.channels": 3, |
|
|
"video.codec": "h264", |
|
|
"video.pix_fmt": "yuv420p", |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"observation.environment.main_camera.image.aug1": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
360, |
|
|
640, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"video" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 50.0, |
|
|
"video.height": 360, |
|
|
"video.width": 640, |
|
|
"video.channels": 3, |
|
|
"video.codec": "h264", |
|
|
"video.pix_fmt": "yuv420p", |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"observation.environment.main_camera.image.aug10": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
360, |
|
|
640, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"video" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 50.0, |
|
|
"video.height": 360, |
|
|
"video.width": 640, |
|
|
"video.channels": 3, |
|
|
"video.codec": "h264", |
|
|
"video.pix_fmt": "yuv420p", |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"observation.environment.main_camera.image.aug11": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
360, |
|
|
640, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"video" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 50.0, |
|
|
"video.height": 360, |
|
|
"video.width": 640, |
|
|
"video.channels": 3, |
|
|
"video.codec": "h264", |
|
|
"video.pix_fmt": "yuv420p", |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"observation.environment.main_camera.image.aug12": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
360, |
|
|
640, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"video" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 50.0, |
|
|
"video.height": 360, |
|
|
"video.width": 640, |
|
|
"video.channels": 3, |
|
|
"video.codec": "h264", |
|
|
"video.pix_fmt": "yuv420p", |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"observation.environment.main_camera.image.aug2": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
360, |
|
|
640, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"video" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 50.0, |
|
|
"video.height": 360, |
|
|
"video.width": 640, |
|
|
"video.channels": 3, |
|
|
"video.codec": "h264", |
|
|
"video.pix_fmt": "yuv420p", |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"observation.environment.main_camera.image.aug3": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
360, |
|
|
640, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"video" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 50.0, |
|
|
"video.height": 360, |
|
|
"video.width": 640, |
|
|
"video.channels": 3, |
|
|
"video.codec": "h264", |
|
|
"video.pix_fmt": "yuv420p", |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"observation.environment.main_camera.image.aug4": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
360, |
|
|
640, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"video" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 50.0, |
|
|
"video.height": 360, |
|
|
"video.width": 640, |
|
|
"video.channels": 3, |
|
|
"video.codec": "h264", |
|
|
"video.pix_fmt": "yuv420p", |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"observation.environment.main_camera.image.aug5": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
360, |
|
|
640, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"video" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 50.0, |
|
|
"video.height": 360, |
|
|
"video.width": 640, |
|
|
"video.channels": 3, |
|
|
"video.codec": "h264", |
|
|
"video.pix_fmt": "yuv420p", |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"observation.environment.main_camera.image.aug6": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
360, |
|
|
640, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"video" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 50.0, |
|
|
"video.height": 360, |
|
|
"video.width": 640, |
|
|
"video.channels": 3, |
|
|
"video.codec": "h264", |
|
|
"video.pix_fmt": "yuv420p", |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"observation.environment.main_camera.image.aug7": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
360, |
|
|
640, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"video" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 50.0, |
|
|
"video.height": 360, |
|
|
"video.width": 640, |
|
|
"video.channels": 3, |
|
|
"video.codec": "h264", |
|
|
"video.pix_fmt": "yuv420p", |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"observation.environment.main_camera.image.aug8": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
360, |
|
|
640, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"video" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 50.0, |
|
|
"video.height": 360, |
|
|
"video.width": 640, |
|
|
"video.channels": 3, |
|
|
"video.codec": "h264", |
|
|
"video.pix_fmt": "yuv420p", |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"observation.environment.main_camera.image.aug9": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
360, |
|
|
640, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"video" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 50.0, |
|
|
"video.height": 360, |
|
|
"video.width": 640, |
|
|
"video.channels": 3, |
|
|
"video.codec": "h264", |
|
|
"video.pix_fmt": "yuv420p", |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
} |
|
|
} |
|
|
} |
|
|
``` |
|
|
|
|
|
|
|
|
## Citation |
|
|
|
|
|
**BibTeX:** |
|
|
|
|
|
```bibtex |
|
|
[More Information Needed] |
|
|
``` |
