| --- |
| 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": "v2.1", |
| "robot_type": "ur10e", |
| "total_episodes": 1, |
| "total_frames": 1405, |
| "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:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
