good_sweep
Collection
18 items • Updated
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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 14,
"features": {
"action": {
"dtype": "float32",
"names": [
"panda_joint1.pos",
"panda_joint2.pos",
"panda_joint3.pos",
"panda_joint4.pos",
"panda_joint5.pos",
"panda_joint6.pos",
"panda_joint7.pos",
"finger1.pos",
"finger2.pos"
],
"shape": [
9
]
},
"observation.state": {
"dtype": "float32",
"names": [
"panda_joint1.pos",
"panda_joint2.pos",
"panda_joint3.pos",
"panda_joint4.pos",
"panda_joint5.pos",
"panda_joint6.pos",
"panda_joint7.pos",
"finger1.pos",
"finger2.pos"
],
"shape": [
9
]
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 14,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.wrist_depth": {
"dtype": "video",
"shape": [
480,
640,
1
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": true,
"depth_unit": "mm",
"video.height": 480,
"video.width": 640,
"video.codec": "hevc",
"video.pix_fmt": "gray12le",
"video.fps": 14,
"video.channels": 1,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {
"x265-params": "lossless=1"
},
"video.depth_min": 0.01,
"video.depth_max": 10.0,
"video.shift": 3.5,
"video.use_log": true
}
},
"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
}
},
"total_episodes": 1,
"total_frames": 677,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": "franka_panda_kinesthetic",
"splits": {
"train": "0:1"
}
}
Citation
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