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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "ergocub",
"total_episodes": 0,
"total_frames": 0,
"total_tasks": 0,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {},
"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": {
"action": {
"dtype": "float32",
"names": [
"left_hand.position.x",
"left_hand.position.y",
"left_hand.position.z",
"left_hand.orientation.d1",
"left_hand.orientation.d2",
"left_hand.orientation.d3",
"left_hand.orientation.d4",
"left_hand.orientation.d5",
"left_hand.orientation.d6",
"right_hand.position.x",
"right_hand.position.y",
"right_hand.position.z",
"right_hand.orientation.d1",
"right_hand.orientation.d2",
"right_hand.orientation.d3",
"right_hand.orientation.d4",
"right_hand.orientation.d5",
"right_hand.orientation.d6",
"head.orientation.d1",
"head.orientation.d2",
"head.orientation.d3",
"head.orientation.d4",
"head.orientation.d5",
"head.orientation.d6",
"left_fingers.thumb_add",
"left_fingers.thumb_oc",
"left_fingers.index_add",
"left_fingers.index_oc",
"left_fingers.middle_oc",
"left_fingers.ring_pinky_oc",
"right_fingers.thumb_add",
"right_fingers.thumb_oc",
"right_fingers.index_add",
"right_fingers.index_oc",
"right_fingers.middle_oc",
"right_fingers.ring_pinky_oc"
],
"shape": [
36
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_hand.position.x",
"left_hand.position.y",
"left_hand.position.z",
"left_hand.orientation.d1",
"left_hand.orientation.d2",
"left_hand.orientation.d3",
"left_hand.orientation.d4",
"left_hand.orientation.d5",
"left_hand.orientation.d6",
"right_hand.position.x",
"right_hand.position.y",
"right_hand.position.z",
"right_hand.orientation.d1",
"right_hand.orientation.d2",
"right_hand.orientation.d3",
"right_hand.orientation.d4",
"right_hand.orientation.d5",
"right_hand.orientation.d6",
"head.orientation.d1",
"head.orientation.d2",
"head.orientation.d3",
"head.orientation.d4",
"head.orientation.d5",
"head.orientation.d6",
"left_fingers.thumb_add",
"left_fingers.thumb_oc",
"left_fingers.index_add",
"left_fingers.index_oc",
"left_fingers.middle_oc",
"left_fingers.ring_pinky_oc",
"right_fingers.thumb_add",
"right_fingers.thumb_oc",
"right_fingers.index_add",
"right_fingers.index_oc",
"right_fingers.middle_oc",
"right_fingers.ring_pinky_oc"
],
"shape": [
36
]
},
"observation.images.egocentric": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
]
},
"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
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