metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "bifranka",
"total_episodes": 1,
"total_frames": 82,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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_positions": {
"dtype": "float32",
"shape": [
18
],
"names": [
"l_joint_1",
"l_joint_2",
"l_joint_3",
"l_joint_4",
"l_joint_5",
"l_joint_6",
"l_joint_7",
"l_gripper_left",
"l_gripper_right",
"r_joint_1",
"r_joint_2",
"r_joint_3",
"r_joint_4",
"r_joint_5",
"r_joint_6",
"r_joint_7",
"r_gripper_left",
"r_gripper_right"
]
},
"observation.ee_pose": {
"dtype": "float32",
"shape": [
14
],
"names": [
"l_pos_x",
"l_pos_y",
"l_pos_z",
"l_quat_w",
"l_quat_x",
"l_quat_y",
"l_quat_z",
"r_pos_x",
"r_pos_y",
"r_pos_z",
"r_quat_w",
"r_quat_x",
"r_quat_y",
"r_quat_z"
]
},
"action.ee_pose": {
"dtype": "float32",
"shape": [
32
],
"names": [
"l_matrix_0_0",
"l_matrix_0_1",
"l_matrix_0_2",
"l_matrix_0_3",
"l_matrix_1_0",
"l_matrix_1_1",
"l_matrix_1_2",
"l_matrix_1_3",
"l_matrix_2_0",
"l_matrix_2_1",
"l_matrix_2_2",
"l_matrix_2_3",
"l_matrix_3_0",
"l_matrix_3_1",
"l_matrix_3_2",
"l_matrix_3_3",
"r_matrix_0_0",
"r_matrix_0_1",
"r_matrix_0_2",
"r_matrix_0_3",
"r_matrix_1_0",
"r_matrix_1_1",
"r_matrix_1_2",
"r_matrix_1_3",
"r_matrix_2_0",
"r_matrix_2_1",
"r_matrix_2_2",
"r_matrix_2_3",
"r_matrix_3_0",
"r_matrix_3_1",
"r_matrix_3_2",
"r_matrix_3_3"
]
},
"action.gripper": {
"dtype": "float32",
"shape": [
2
],
"names": [
"l_gripper",
"r_gripper"
]
},
"rgb.global_0": {
"dtype": "uint8",
"shape": [
720,
1280,
3
],
"names": [
"rgb"
]
},
"depth.global_0": {
"dtype": "uint16",
"shape": [
720,
1280
],
"names": [
"depth"
]
},
"pose.cambridge_mug": {
"dtype": "float32",
"shape": [
4,
4
],
"names": [
"pose"
]
},
"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
}
}
}
Citation
BibTeX:
[More Information Needed]