arkojit1/mj_red_block

This dataset was created using LeRobot.

Dataset Description

Expert demonstrations of stay still, don't move, do nothing, don't do anything, stop, pick up the block, lift the block, pick up the red block, lift the red block, pick up the yellow block, lift the yellow block in the mj_pick_block MuJoCo Franka Panda scene.

• Source: dataset recipe red_block (record_expert_dataset.py)

  • stay_still: 100 episodes
  • pick_red_block: 100 episodes
  • pick_yellow_block: 100 episodes

• Control rate: 50 Hz

• Frames: action.ee.delta_xyz is a gripper-site translation in the MuJoCo world frame (meters). action.ee.orientation is the first two rows of the gripper site's world-frame rotation matrix (site axes expressed in world).

• Observations: observation.image.front, observation.image.wrist (224×224 RGB); observation.state is 7 arm joint positions plus gripper opening in [0, 1] (0 = closed, 1 = open)

• Gripper: target opening in [0, 1] (0 = closed, 1 = open)

• Recorded actions:

  • action.ee.delta_xyz: shape (3,), names ['dx', 'dy', 'dz']
  • action.ee.orientation: shape (6,), names ['r00', 'r01', 'r02', 'r10', 'r11', 'r12']
  • action.joint.delta_angles: shape (7,), names ['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7']
  • action.gripper.target: shape (1,), names ['gripper']

• Homepage: [More Information Needed]

• Paper: [More Information Needed]

• License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 50,
    "features": {
        "observation.image.front": {
            "dtype": "image",
            "shape": [
                3,
                224,
                224
            ],
            "names": [
                "C",
                "H",
                "W"
            ]
        },
        "observation.image.wrist": {
            "dtype": "image",
            "shape": [
                3,
                224,
                224
            ],
            "names": [
                "C",
                "H",
                "W"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "D_state"
            ]
        },
        "action.ee.delta_xyz": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "dx",
                "dy",
                "dz"
            ]
        },
        "action.ee.orientation": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "r00",
                "r01",
                "r02",
                "r10",
                "r11",
                "r12"
            ]
        },
        "action.joint.delta_angles": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint1",
                "joint2",
                "joint3",
                "joint4",
                "joint5",
                "joint6",
                "joint7"
            ]
        },
        "action.gripper.target": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper"
            ]
        },
        "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": 300,
    "total_frames": 36478,
    "total_tasks": 11,
    "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": "panda",
    "splits": {
        "train": "0:300"
    }
}

Citation

BibTeX:

[More Information Needed]