EmbodiedSWE/coffee_franka_joint.jointtarget_60hz_20260907

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "puzzle.coffee.franka.joint",
    "total_episodes": 600,
    "total_frames": 1584630,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 62,
    "fps": 60,
    "splits": {
        "train": "0:600"
    },
    "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.front_wide": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "panda_joint1",
                "panda_joint2",
                "panda_joint3",
                "panda_joint4",
                "panda_joint5",
                "panda_joint6",
                "panda_joint7",
                "gripper"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "panda_joint1_target",
                "panda_joint2_target",
                "panda_joint3_target",
                "panda_joint4_target",
                "panda_joint5_target",
                "panda_joint6_target",
                "panda_joint7_target",
                "gripper"
            ]
        },
        "raw_command": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "cmd_0",
                "cmd_1",
                "cmd_2",
                "cmd_3",
                "cmd_4",
                "cmd_5",
                "cmd_6",
                "cmd_7",
                "cmd_8"
            ]
        },
        "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:

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