| --- |
| 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": "franka", |
| "total_episodes": 47, |
| "total_frames": 11168, |
| "total_tasks": 1, |
| "total_videos": 141, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 15, |
| "splits": { |
| "train": "0:47" |
| }, |
| "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.images.primary": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "video_info": { |
| "video.fps": 30.0, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| }, |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 15, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.tactile": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "video_info": { |
| "video.fps": 30.0, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| }, |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 15, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "video_info": { |
| "video.fps": 30.0, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| }, |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 15, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.state.cartesian": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| }, |
| "observation.state.gripper": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "observation.state.joints": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6" |
| ] |
| }, |
| "observation.state.sensors_ft_sensor": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "sensors_ft_sensor_0", |
| "sensors_ft_sensor_1", |
| "sensors_ft_sensor_2", |
| "sensors_ft_sensor_3", |
| "sensors_ft_sensor_4", |
| "sensors_ft_sensor_5" |
| ] |
| }, |
| "observation.state.sensors_tactile_sensor": { |
| "dtype": "float32", |
| "shape": [ |
| 15 |
| ], |
| "names": [ |
| "sensors_tactile_sensor_0", |
| "sensors_tactile_sensor_1", |
| "sensors_tactile_sensor_2", |
| "sensors_tactile_sensor_3", |
| "sensors_tactile_sensor_4", |
| "sensors_tactile_sensor_5", |
| "sensors_tactile_sensor_6", |
| "sensors_tactile_sensor_7", |
| "sensors_tactile_sensor_8", |
| "sensors_tactile_sensor_9", |
| "sensors_tactile_sensor_10", |
| "sensors_tactile_sensor_11", |
| "sensors_tactile_sensor_12", |
| "sensors_tactile_sensor_13", |
| "sensors_tactile_sensor_14" |
| ] |
| }, |
| "observation.state.target": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "target_x", |
| "target_y", |
| "target_z", |
| "target_roll", |
| "target_pitch", |
| "target_yaw" |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 41 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw", |
| "gripper", |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6", |
| "sensors_ft_sensor_0", |
| "sensors_ft_sensor_1", |
| "sensors_ft_sensor_2", |
| "sensors_ft_sensor_3", |
| "sensors_ft_sensor_4", |
| "sensors_ft_sensor_5", |
| "sensors_tactile_sensor_0", |
| "sensors_tactile_sensor_1", |
| "sensors_tactile_sensor_2", |
| "sensors_tactile_sensor_3", |
| "sensors_tactile_sensor_4", |
| "sensors_tactile_sensor_5", |
| "sensors_tactile_sensor_6", |
| "sensors_tactile_sensor_7", |
| "sensors_tactile_sensor_8", |
| "sensors_tactile_sensor_9", |
| "sensors_tactile_sensor_10", |
| "sensors_tactile_sensor_11", |
| "sensors_tactile_sensor_12", |
| "sensors_tactile_sensor_13", |
| "sensors_tactile_sensor_14", |
| "target_x", |
| "target_y", |
| "target_z", |
| "target_roll", |
| "target_pitch", |
| "target_yaw" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw", |
| "gripper" |
| ] |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
