metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
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": "v2.1",
"robot_type": null,
"total_episodes": 1,
"total_frames": 250,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1"
},
"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": {
"action.arm_shoulder_pan": {
"shape": [
1
],
"info": null,
"dtype": "float32"
},
"action.arm_shoulder_lift": {
"shape": [
1
],
"info": null,
"dtype": "float32"
},
"action.arm_elbow_flex": {
"shape": [
1
],
"info": null,
"dtype": "float32"
},
"action.arm_wrist_flex": {
"shape": [
1
],
"info": null,
"dtype": "float32"
},
"action.arm_wrist_roll": {
"shape": [
1
],
"info": null,
"dtype": "float32"
},
"action.arm_gripper": {
"shape": [
1
],
"info": null,
"dtype": "float32"
},
"action.base_left_wheel": {
"shape": [
1
],
"info": null,
"dtype": "float32"
},
"action.base_right_wheel": {
"shape": [
1
],
"info": null,
"dtype": "float32"
},
"action.base_back_wheel": {
"shape": [
1
],
"info": null,
"dtype": "float32"
},
"observation.state.arm_shoulder_pan": {
"shape": [
1
],
"info": null,
"dtype": "float32"
},
"observation.state.arm_shoulder_lift": {
"shape": [
1
],
"info": null,
"dtype": "float32"
},
"observation.state.arm_elbow_flex": {
"shape": [
1
],
"info": null,
"dtype": "float32"
},
"observation.state.arm_wrist_flex": {
"shape": [
1
],
"info": null,
"dtype": "float32"
},
"observation.state.arm_wrist_roll": {
"shape": [
1
],
"info": null,
"dtype": "float32"
},
"observation.state.arm_gripper": {
"shape": [
1
],
"info": null,
"dtype": "float32"
},
"observation.state.x_cmd": {
"shape": [
1
],
"info": null,
"dtype": "float32"
},
"observation.state.y_cmd": {
"shape": [
1
],
"info": null,
"dtype": "float32"
},
"observation.state.theta_cmd": {
"shape": [
1
],
"info": null,
"dtype": "float32"
},
"observation.images.front": {
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": null,
"dtype": "image"
},
"observation.images.wrist": {
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"dtype": "image",
"info": null
},
"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]