This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 1207,
"total_frames": 1194300,
"total_tasks": 24,
"chunks_size": 1000,
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"fps": 30,
"splits": {
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},
"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": {
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"observation.state": {
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"right.j2",
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"right.j4",
"right.j5",
"right.j6",
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"left.j0",
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"left.j2",
"left.j3",
"left.j4",
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},
"action": {
"names": [
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"ctrl.joint_angles[0].1",
"ctrl.joint_angles[0].2",
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"ctrl.joint_angles[0].4",
"ctrl.joint_angles[0].5",
"ctrl.joint_angles[0].6",
"ctrl.gripper_width[0].0",
"ctrl.joint_angles[1].0",
"ctrl.joint_angles[1].1",
"ctrl.joint_angles[1].2",
"ctrl.joint_angles[1].3",
"ctrl.joint_angles[1].4",
"ctrl.joint_angles[1].5",
"ctrl.joint_angles[1].6",
"ctrl.gripper_width[1].0"
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16
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},
"observation.images.ego": {
"names": [
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"dtype": "video",
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},
"observation.images.wrist_right": {
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"observation.images.wrist_left": {
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"info": {
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"video.channels": 3,
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}
}
}
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