This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "hsr",
"total_episodes": 5,
"total_frames": 1370,
"total_tasks": 1,
"total_videos": 10,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:5"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"observation.image.head": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 10,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": "false",
"has_audio": "false"
}
},
"observation.image.hand": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 10,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": "false",
"has_audio": "false"
}
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"arm_lift_joint",
"arm_flex_joint",
"arm_roll_joint",
"wrist_flex_joint",
"wrist_roll_joint",
"hand_motor_joint",
"head_pan_joint",
"head_tilt_joint"
]
},
"action.absolute": {
"dtype": "float32",
"shape": [
8
],
"names": [
"arm_lift_joint",
"arm_flex_joint",
"arm_roll_joint",
"wrist_flex_joint",
"wrist_roll_joint",
"hand_motor_joint",
"head_pan_joint",
"head_tilt_joint"
],
"description": "absolute action for all joints without hand_motor_joint(gripper)"
},
"action.relative": {
"dtype": "float32",
"shape": [
11
],
"names": [
"arm_lift_joint",
"arm_flex_joint",
"arm_roll_joint",
"wrist_flex_joint",
"wrist_roll_joint",
"hand_motor_joint",
"head_pan_joint",
"head_tilt_joint",
"base_x",
"base_y",
"base_t"
],
"description": "delta action for all joints and base without hand_motor_joint(gripper)"
},
"action.arm": {
"dtype": "float32",
"shape": [
5
],
"names": [
"arm_lift_joint",
"arm_flex_joint",
"arm_roll_joint",
"wrist_flex_joint",
"wrist_roll_joint"
],
"description": "absolute action for arm joints"
},
"action.gripper": {
"dtype": "float32",
"shape": [
1
],
"names": [
"hand_motor_joint"
],
"description": "absolute action for gripper"
},
"action.head": {
"dtype": "float32",
"shape": [
2
],
"names": [
"head_pan_joint",
"head_tilt_joint"
],
"description": "absolute action for head joints"
},
"action.base": {
"dtype": "float32",
"shape": [
3
],
"names": [
"base_x",
"base_y",
"base_t"
],
"description": "delta action for base"
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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