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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": "DualPanda", |
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"total_episodes": 1000, |
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"total_frames": 173000, |
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"total_tasks": 1, |
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"total_videos": 0, |
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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": "0:1000" |
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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": null, |
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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.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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"timestamp": { |
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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": 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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], |
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"names": null |
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}, |
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"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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"task_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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} |
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} |
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``` |
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## Citation |
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**BibTeX:** |
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```bibtex |
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[More Information Needed] |
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``` |
