Keith-Luo/press_button_mix

This dataset was created using LeRobot.

Dataset Description

QuestArmTeleop LeRobot v3 dataset. Point clouds are stored directly in Parquet as observation.pointcloud.xyz (float32 metres, shape [1024, 3], base_link), observation.pointcloud.rgb (uint8 RGB), and observation.pointcloud.valid_mask. They share the same row, frame index and timestamp as state/action.

• Homepage: [More Information Needed]
• Paper: [More Information Needed]
• License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "QuestArmTeleopDualArm",
    "total_episodes": 98,
    "total_frames": 48456,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:98"
    },
    "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.state": {
            "dtype": "float32",
            "shape": [
                13
            ],
            "names": [
                "vision.base_yaw",
                "vision.shoulder_pitch",
                "vision.elbow_pitch",
                "vision.wrist_pitch",
                "vision.wrist_yaw",
                "vision.camera_roll",
                "manip.joint1",
                "manip.joint2",
                "manip.joint3",
                "manip.joint4",
                "manip.joint5",
                "manip.joint6",
                "manip.gripper"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                13
            ],
            "names": [
                "vision.base_yaw",
                "vision.shoulder_pitch",
                "vision.elbow_pitch",
                "vision.wrist_pitch",
                "vision.wrist_yaw",
                "vision.camera_roll",
                "manip.joint1",
                "manip.joint2",
                "manip.joint3",
                "manip.joint4",
                "manip.joint5",
                "manip.joint6",
                "manip.gripper"
            ]
        },
        "observation.images.rgb": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "source.camera_frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": [
                "frame_index"
            ]
        },
        "source.capture_time": {
            "dtype": "float64",
            "shape": [
                1
            ],
            "names": [
                "seconds_from_first_camera_frame"
            ]
        },
        "source.cambot_camera_pose": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "qx",
                "qy",
                "qz",
                "qw"
            ]
        },
        "source.cambot_color_optical_pose": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "qx",
                "qy",
                "qz",
                "qw"
            ]
        },
        "source.cambot_pose_sync_gap": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "seconds"
            ]
        },
        "source.manip_tcp_pose": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "qx",
                "qy",
                "qz",
                "qw"
            ]
        },
        "observation.pointcloud.xyz": {
            "dtype": "float32",
            "shape": [
                1024,
                3
            ],
            "names": null
        },
        "observation.pointcloud.rgb": {
            "dtype": "uint8",
            "shape": [
                1024,
                3
            ],
            "names": null
        },
        "observation.pointcloud.valid_mask": {
            "dtype": "bool",
            "shape": [
                1024
            ],
            "names": null
        },
        "source.pointcloud_valid_count": {
            "dtype": "int32",
            "shape": [
                1
            ],
            "names": [
                "points"
            ]
        },
        "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]