bkuster/oracle_basic_time_wrench_done_20261027_144325

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 15,
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "cart_pos_x_tool_commanded_rel",
                "cart_pos_y_tool_commanded_rel",
                "cart_pos_z_tool_commanded_rel",
                "cart_rot_x_tool_commanded_rel",
                "cart_rot_y_tool_commanded_rel",
                "cart_rot_z_tool_commanded_rel",
                "gripper",
                "xy_stiffness_factor",
                "z_stiffness_factor",
                "rot_stiffness_factor",
                "done"
            ],
            "shape": [
                11
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "cart_pos_x_measured",
                "cart_pos_y_measured",
                "cart_pos_z_measured",
                "cart_rot6d_0_measured",
                "cart_rot6d_1_measured",
                "cart_rot6d_2_measured",
                "cart_rot6d_3_measured",
                "cart_rot6d_4_measured",
                "cart_rot6d_5_measured",
                "cart_pos_x_commanded",
                "cart_pos_y_commanded",
                "cart_pos_z_commanded",
                "cart_rot6d_0_commanded",
                "cart_rot6d_1_commanded",
                "cart_rot6d_2_commanded",
                "cart_rot6d_3_commanded",
                "cart_rot6d_4_commanded",
                "cart_rot6d_5_commanded",
                "cart_x.vel_measured",
                "cart_y.vel_measured",
                "cart_z.vel_measured",
                "cart_wx.vel_measured",
                "cart_wy.vel_measured",
                "cart_wz.vel_measured",
                "cart_Fx.FT_measured",
                "cart_Fy.FT_measured",
                "cart_Fz.FT_measured",
                "cart_Tx.FT_measured",
                "cart_Ty.FT_measured",
                "cart_Tz.FT_measured",
                "elapsed_time_s"
            ],
            "shape": [
                31
            ]
        },
        "observation.images.image": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": "fast",
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "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": 490,
    "total_frames": 29100,
    "total_tasks": 49,
    "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": "robotblockset_robot",
    "splits": {
        "train": "0:490"
    }
}

Citation

BibTeX:

[More Information Needed]

Cleanup

Removed all 10 episodes with task Close gripper. Remaining episodes are reindexed from 0 to 489. See cleanup_manifest.json for the original episode IDs and source revision.