| --- |
| 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": "v3.0", |
| "robot_type": "franka", |
| "total_episodes": 1542, |
| "total_frames": 2852512, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 500, |
| "fps": 20, |
| "splits": { |
| "train": "0:1542" |
| }, |
| "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.cam_high": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "rgb" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 20, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_left_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "rgb" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 20, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_right_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "rgb" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 20, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 96 |
| ], |
| "names": [ |
| "eef_euler_0", |
| "eef_euler_1", |
| "eef_euler_2", |
| "eef_euler_3", |
| "eef_euler_4", |
| "eef_euler_5", |
| "eef_euler_6", |
| "eef_euler_7", |
| "eef_euler_8", |
| "eef_euler_9", |
| "eef_euler_10", |
| "eef_euler_11", |
| "eef_euler_12", |
| "eef_euler_13", |
| "eef_quat_0", |
| "eef_quat_1", |
| "eef_quat_2", |
| "eef_quat_3", |
| "eef_quat_4", |
| "eef_quat_5", |
| "eef_quat_6", |
| "eef_quat_7", |
| "eef_quat_8", |
| "eef_quat_9", |
| "eef_quat_10", |
| "eef_quat_11", |
| "eef_quat_12", |
| "eef_quat_13", |
| "eef_quat_14", |
| "eef_quat_15", |
| "eef6d_0", |
| "eef6d_1", |
| "eef6d_2", |
| "eef6d_3", |
| "eef6d_4", |
| "eef6d_5", |
| "eef6d_6", |
| "eef6d_7", |
| "eef6d_8", |
| "eef6d_9", |
| "eef6d_10", |
| "eef6d_11", |
| "eef6d_12", |
| "eef6d_13", |
| "eef6d_14", |
| "eef6d_15", |
| "eef6d_16", |
| "eef6d_17", |
| "eef6d_18", |
| "eef6d_19", |
| "eef_left_time", |
| "eef_right_time", |
| "qpos_0", |
| "qpos_1", |
| "qpos_2", |
| "qpos_3", |
| "qpos_4", |
| "qpos_5", |
| "qpos_6", |
| "qpos_7", |
| "qpos_8", |
| "qpos_9", |
| "qpos_10", |
| "qpos_11", |
| "qpos_12", |
| "qpos_13", |
| "qvel_0", |
| "qvel_1", |
| "qvel_2", |
| "qvel_3", |
| "qvel_4", |
| "qvel_5", |
| "qvel_6", |
| "qvel_7", |
| "qvel_8", |
| "qvel_9", |
| "qvel_10", |
| "qvel_11", |
| "qvel_12", |
| "qvel_13", |
| "effort_0", |
| "effort_1", |
| "effort_2", |
| "effort_3", |
| "effort_4", |
| "effort_5", |
| "effort_6", |
| "effort_7", |
| "effort_8", |
| "effort_9", |
| "effort_10", |
| "effort_11", |
| "effort_12", |
| "effort_13", |
| "qpos_left_time", |
| "qpos_right_time" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": { |
| "motors": [ |
| "joint_action_0", |
| "joint_action_1", |
| "joint_action_2", |
| "joint_action_3", |
| "joint_action_4", |
| "joint_action_5", |
| "joint_action_6", |
| "joint_action_7", |
| "joint_action_8", |
| "joint_action_9", |
| "joint_action_10", |
| "joint_action_11", |
| "joint_action_12", |
| "joint_action_13" |
| ] |
| } |
| }, |
| "time_stamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": { |
| "values": [ |
| "global_timestamp" |
| ] |
| } |
| }, |
| "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] |
| ``` |
