metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- T
- o
- F
- o
- u
- r
- /
- t
- e
- s
- t
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": "v3.0",
"robot_type": "Jaka_Dual_Arm",
"total_episodes": 10,
"total_frames": 200,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 1,
"splits": {
"train": "0:10"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.images.camera_global": {
"dtype": "video",
"shape": [
640,
480,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 640,
"video.width": 480,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 1,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.camera_left_arm": {
"dtype": "video",
"shape": [
640,
480,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 640,
"video.width": 480,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 1,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.camera_right_arm": {
"dtype": "video",
"shape": [
640,
480,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 640,
"video.width": 480,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 1,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"joint1",
"joint2",
"joint3",
"joint4",
"joint5",
"joint6",
"joint7"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"joint1",
"joint2",
"joint3",
"joint4",
"joint5",
"joint6",
"joint7"
]
}
},
"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:
[More Information Needed]