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": "ur10e",
"total_episodes": 1,
"total_frames": 1442,
"total_tasks": 1,
"total_videos": 3,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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": {
"observation.state.pose": {
"dtype": "float64",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.state.tool": {
"dtype": "float64",
"shape": [
1
],
"names": [
"tool"
]
},
"observation.state.tcp_force": {
"dtype": "float64",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"observation.state.tcp_torque": {
"dtype": "float64",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"observation.state.joints": {
"dtype": "float64",
"shape": [
6
]
},
"observation.images.side": {
"dtype": "video",
"shape": [
3,
300,
355
],
"info": {
"video.height": 300,
"video.width": 355,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist_left": {
"dtype": "video",
"shape": [
3,
360,
270
],
"info": {
"video.height": 360,
"video.width": 270,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist_right": {
"dtype": "video",
"shape": [
3,
360,
270
],
"info": {
"video.height": 360,
"video.width": 270,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"action.pose": {
"dtype": "float64",
"shape": [
6
],
"names": [
"dx",
"dy",
"dz",
"droll",
"dpitch",
"dyaw"
]
},
"action.tool": {
"dtype": "float64",
"shape": [
1
]
},
"action.joints": {
"dtype": "float64",
"shape": [
6
]
},
"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]