--- 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": "dual_panda_robotiq_ee", "total_episodes": 1, "total_frames": 207, "total_tasks": 1, "total_videos": 13, "total_chunks": 1, "chunks_size": 1000, "fps": 50, "splits": { "train": "0:1" }, "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": { "observation.joint": { "dtype": "float32", "shape": [ 16 ], "names": [ "l_robot/joint1", "l_robot/joint2", "l_robot/joint3", "l_robot/joint4", "l_robot/joint5", "l_robot/joint6", "l_robot/joint7", "l_robot/right_driver_joint", "l_robot/right_coupler_joint", "l_robot/right_spring_link_joint", "l_robot/right_follower_joint", "l_robot/left_driver_joint", "l_robot/left_coupler_joint", "l_robot/left_spring_link_joint", "l_robot/left_follower_joint", "r_robot/joint1", "r_robot/joint2", "r_robot/joint3", "r_robot/joint4", "r_robot/joint5", "r_robot/joint6", "r_robot/joint7", "r_robot/right_driver_joint", "r_robot/right_coupler_joint", "r_robot/right_spring_link_joint", "r_robot/right_follower_joint", "r_robot/left_driver_joint", "r_robot/left_coupler_joint", "r_robot/left_spring_link_joint", "r_robot/left_follower_joint" ] }, "observation.state": { "dtype": "float32", "shape": [ 30 ], "names": [ "l_robot/joint1", "l_robot/joint2", "l_robot/joint3", "l_robot/joint4", "l_robot/joint5", "l_robot/joint6", "l_robot/joint7", "l_robot/right_driver_joint", "l_robot/right_coupler_joint", "l_robot/right_spring_link_joint", "l_robot/right_follower_joint", "l_robot/left_driver_joint", "l_robot/left_coupler_joint", "l_robot/left_spring_link_joint", "l_robot/left_follower_joint", "r_robot/joint1", "r_robot/joint2", "r_robot/joint3", "r_robot/joint4", "r_robot/joint5", "r_robot/joint6", "r_robot/joint7", "r_robot/right_driver_joint", "r_robot/right_coupler_joint", "r_robot/right_spring_link_joint", "r_robot/right_follower_joint", "r_robot/left_driver_joint", "r_robot/left_coupler_joint", "r_robot/left_spring_link_joint", "r_robot/left_follower_joint" ] }, "observation.environment_state": { "dtype": "float32", "shape": [ 7 ], "names": [ "tblock_px", "tblock_py", "tblock_pz", "tblock_qw", "tblock_qx", "tblock_qy", "tblock_qz" ] }, "observation.environment.block_xy": { "dtype": "float32", "shape": [ 2 ], "names": [ "block_x", "block_y" ] }, "observation.right_arm.joint": { "dtype": "float32", "shape": [ 7 ] }, "observation.right.joint": { "dtype": "float32", "shape": [ 8 ] }, "observation.left_arm.joint": { "dtype": "float32", "shape": [ 7 ] }, "observation.qvel": { "dtype": "float32", "shape": [ 30 ], "names": [ "l_robot/joint1", "l_robot/joint2", "l_robot/joint3", "l_robot/joint4", "l_robot/joint5", "l_robot/joint6", "l_robot/joint7", "l_robot/right_driver_joint", "l_robot/right_coupler_joint", "l_robot/right_spring_link_joint", "l_robot/right_follower_joint", "l_robot/left_driver_joint", "l_robot/left_coupler_joint", "l_robot/left_spring_link_joint", "l_robot/left_follower_joint", "r_robot/joint1", "r_robot/joint2", "r_robot/joint3", "r_robot/joint4", "r_robot/joint5", "r_robot/joint6", "r_robot/joint7", "r_robot/right_driver_joint", "r_robot/right_coupler_joint", "r_robot/right_spring_link_joint", "r_robot/right_follower_joint", "r_robot/left_driver_joint", "r_robot/left_coupler_joint", "r_robot/left_spring_link_joint", "r_robot/left_follower_joint" ] }, "observation.env_qvel": { "dtype": "float32", "shape": [ 6 ], "names": [ "tblock_vx", "tblock_vy", "tblock_vz", "tblock_wx", "tblock_wy", "tblock_wz" ] }, "observation.ee_pose": { "dtype": "float32", "shape": [ 16 ], "names": [ "l_robot/hand_x", "l_robot/hand_y", "l_robot/hand_z", "l_robot/hand_qw", "l_robot/hand_qx", "l_robot/hand_qy", "l_robot/hand_qz", "l_robot/gripper", "r_robot/hand_x", "r_robot/hand_y", "r_robot/hand_z", "r_robot/hand_qw", "r_robot/hand_qx", "r_robot/hand_qy", "r_robot/hand_qz", "r_robot/gripper" ] }, "action.ctrl": { "dtype": "float32", "shape": [ 16 ], "names": [ "l_robot/actuator1", "l_robot/actuator2", "l_robot/actuator3", "l_robot/actuator4", "l_robot/actuator5", "l_robot/actuator6", "l_robot/actuator7", "l_robot/fingers_actuator", "r_robot/actuator1", "r_robot/actuator2", "r_robot/actuator3", "r_robot/actuator4", "r_robot/actuator5", "r_robot/actuator6", "r_robot/actuator7", "r_robot/fingers_actuator" ] }, "action.joint": { "dtype": "float32", "shape": [ 16 ], "names": [ "l_robot/actuator1", "l_robot/actuator2", "l_robot/actuator3", "l_robot/actuator4", "l_robot/actuator5", "l_robot/actuator6", "l_robot/actuator7", "l_robot/fingers_actuator", "r_robot/actuator1", "r_robot/actuator2", "r_robot/actuator3", "r_robot/actuator4", "r_robot/actuator5", "r_robot/actuator6", "r_robot/actuator7", "r_robot/fingers_actuator" ] }, "action.ee_pose": { "dtype": "float32", "shape": [ 16 ], "names": [ "l_robot/hand_x", "l_robot/hand_y", "l_robot/hand_z", "l_robot/hand_qw", "l_robot/hand_qx", "l_robot/hand_qy", "l_robot/hand_qz", "l_robot/gripper", "r_robot/hand_x", "r_robot/hand_y", "r_robot/hand_z", "r_robot/hand_qw", "r_robot/hand_qx", "r_robot/hand_qy", "r_robot/hand_qz", "r_robot/gripper" ] }, "action.right_arm.joint": { "dtype": "float32", "shape": [ 7 ] }, "action.right.joint": { "dtype": "float32", "shape": [ 8 ] }, "action.left_arm.joint": { "dtype": "float32", "shape": [ 7 ] }, "action.right_arm.joint.relative": { "dtype": "float32", "shape": [ 7 ] }, "action.left_arm.joint.relative": { "dtype": "float32", "shape": [ 7 ] }, "action.joint.relative": { "dtype": "float32", "shape": [ 16 ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "observation.environment.tblock.center.x": { "dtype": "float32", "shape": [ 1 ], "names": [ "x" ] }, "observation.environment.tblock.center.y": { "dtype": "float32", "shape": [ 1 ], "names": [ "y" ] }, "observation.environment.tblock.center.z": { "dtype": "float32", "shape": [ 1 ], "names": [ "z" ] }, "observation.environment.tblock.center.xy": { "dtype": "float32", "shape": [ 2 ], "names": [ "xy" ] }, "observation.environment.tblock.center.xyz": { "dtype": "float32", "shape": [ 3 ], "names": [ "xyz" ] }, "observation.environment.tblock.center.quat": { "dtype": "float32", "shape": [ 4 ], "names": [ "quat" ] }, "observation.environment.tblock.center.euler": { "dtype": "float32", "shape": [ 3 ], "names": [ "euler" ] }, "observation.environment.tblock.center.posquat": { "dtype": "float32", "shape": [ 7 ], "names": [ "posquat" ] }, "observation.environment.tblock.center.xaxis": { "dtype": "float32", "shape": [ 3 ], "names": [ "xaxis" ] }, "observation.environment.tblock.center.yaxis": { "dtype": "float32", "shape": [ 3 ], "names": [ "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] ```