Search is not available for this dataset
observation.state list | action list | observation.tactile list | timestamp float32 0 2.8 | frame_index int64 0 28 | episode_index int64 0 0 | index int64 0 28 | task_index int64 0 0 |
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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "ffw_sh5_rev1",
"total_episodes": 1,
"total_frames": 29,
"total_tasks": 1,
"total_videos": 1,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1"
},
"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": {
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"shape": [
57
],
"names": [
"arm_l_joint1",
"arm_l_joint2",
"arm_l_joint3",
"arm_l_joint4",
"arm_l_joint5",
"arm_l_joint6",
"arm_l_joint7",
"arm_r_joint1",
"arm_r_joint2",
"arm_r_joint3",
"arm_r_joint4",
"arm_r_joint5",
"arm_r_joint6",
"arm_r_joint7",
"finger_l_joint1",
"finger_l_joint2",
"finger_l_joint3",
"finger_l_joint4",
"finger_l_joint5",
"finger_l_joint6",
"finger_l_joint7",
"finger_l_joint8",
"finger_l_joint9",
"finger_l_joint10",
"finger_l_joint11",
"finger_l_joint12",
"finger_l_joint13",
"finger_l_joint14",
"finger_l_joint15",
"finger_l_joint16",
"finger_l_joint17",
"finger_l_joint18",
"finger_l_joint19",
"finger_l_joint20",
"finger_r_joint1",
"finger_r_joint2",
"finger_r_joint3",
"finger_r_joint4",
"finger_r_joint5",
"finger_r_joint6",
"finger_r_joint7",
"finger_r_joint8",
"finger_r_joint9",
"finger_r_joint10",
"finger_r_joint11",
"finger_r_joint12",
"finger_r_joint13",
"finger_r_joint14",
"finger_r_joint15",
"finger_r_joint16",
"finger_r_joint17",
"finger_r_joint18",
"finger_r_joint19",
"finger_r_joint20",
"head_joint1",
"head_joint2",
"lift_joint"
]
},
"action": {
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"shape": [
57
],
"names": [
"arm_l_joint1",
"arm_l_joint2",
"arm_l_joint3",
"arm_l_joint4",
"arm_l_joint5",
"arm_l_joint6",
"arm_l_joint7",
"arm_r_joint1",
"arm_r_joint2",
"arm_r_joint3",
"arm_r_joint4",
"arm_r_joint5",
"arm_r_joint6",
"arm_r_joint7",
"finger_l_joint1",
"finger_l_joint2",
"finger_l_joint3",
"finger_l_joint4",
"finger_l_joint5",
"finger_l_joint6",
"finger_l_joint7",
"finger_l_joint8",
"finger_l_joint9",
"finger_l_joint10",
"finger_l_joint11",
"finger_l_joint12",
"finger_l_joint13",
"finger_l_joint14",
"finger_l_joint15",
"finger_l_joint16",
"finger_l_joint17",
"finger_l_joint18",
"finger_l_joint19",
"finger_l_joint20",
"finger_r_joint1",
"finger_r_joint2",
"finger_r_joint3",
"finger_r_joint4",
"finger_r_joint5",
"finger_r_joint6",
"finger_r_joint7",
"finger_r_joint8",
"finger_r_joint9",
"finger_r_joint10",
"finger_r_joint11",
"finger_r_joint12",
"finger_r_joint13",
"finger_r_joint14",
"finger_r_joint15",
"finger_r_joint16",
"finger_r_joint17",
"finger_r_joint18",
"finger_r_joint19",
"finger_r_joint20",
"head_joint1",
"head_joint2",
"lift_joint"
]
},
"observation.tactile": {
"dtype": "float32",
"shape": [
90
],
"names": [
"finger_l_sensor1.present_pressure_1",
"finger_l_sensor1.present_pressure_2",
"finger_l_sensor1.present_pressure_3",
"finger_l_sensor1.present_pressure_4",
"finger_l_sensor1.present_pressure_5",
"finger_l_sensor1.present_pressure_6",
"finger_l_sensor1.present_pressure_7",
"finger_l_sensor1.present_pressure_8",
"finger_l_sensor1.present_pressure_9",
"finger_l_sensor2.present_pressure_1",
"finger_l_sensor2.present_pressure_2",
"finger_l_sensor2.present_pressure_3",
"finger_l_sensor2.present_pressure_4",
"finger_l_sensor2.present_pressure_5",
"finger_l_sensor2.present_pressure_6",
"finger_l_sensor2.present_pressure_7",
"finger_l_sensor2.present_pressure_8",
"finger_l_sensor2.present_pressure_9",
"finger_l_sensor3.present_pressure_1",
"finger_l_sensor3.present_pressure_2",
"finger_l_sensor3.present_pressure_3",
"finger_l_sensor3.present_pressure_4",
"finger_l_sensor3.present_pressure_5",
"finger_l_sensor3.present_pressure_6",
"finger_l_sensor3.present_pressure_7",
"finger_l_sensor3.present_pressure_8",
"finger_l_sensor3.present_pressure_9",
"finger_l_sensor4.present_pressure_1",
"finger_l_sensor4.present_pressure_2",
"finger_l_sensor4.present_pressure_3",
"finger_l_sensor4.present_pressure_4",
"finger_l_sensor4.present_pressure_5",
"finger_l_sensor4.present_pressure_6",
"finger_l_sensor4.present_pressure_7",
"finger_l_sensor4.present_pressure_8",
"finger_l_sensor4.present_pressure_9",
"finger_l_sensor5.present_pressure_1",
"finger_l_sensor5.present_pressure_2",
"finger_l_sensor5.present_pressure_3",
"finger_l_sensor5.present_pressure_4",
"finger_l_sensor5.present_pressure_5",
"finger_l_sensor5.present_pressure_6",
"finger_l_sensor5.present_pressure_7",
"finger_l_sensor5.present_pressure_8",
"finger_l_sensor5.present_pressure_9",
"finger_r_sensor1.present_pressure_1",
"finger_r_sensor1.present_pressure_2",
"finger_r_sensor1.present_pressure_3",
"finger_r_sensor1.present_pressure_4",
"finger_r_sensor1.present_pressure_5",
"finger_r_sensor1.present_pressure_6",
"finger_r_sensor1.present_pressure_7",
"finger_r_sensor1.present_pressure_8",
"finger_r_sensor1.present_pressure_9",
"finger_r_sensor2.present_pressure_1",
"finger_r_sensor2.present_pressure_2",
"finger_r_sensor2.present_pressure_3",
"finger_r_sensor2.present_pressure_4",
"finger_r_sensor2.present_pressure_5",
"finger_r_sensor2.present_pressure_6",
"finger_r_sensor2.present_pressure_7",
"finger_r_sensor2.present_pressure_8",
"finger_r_sensor2.present_pressure_9",
"finger_r_sensor3.present_pressure_1",
"finger_r_sensor3.present_pressure_2",
"finger_r_sensor3.present_pressure_3",
"finger_r_sensor3.present_pressure_4",
"finger_r_sensor3.present_pressure_5",
"finger_r_sensor3.present_pressure_6",
"finger_r_sensor3.present_pressure_7",
"finger_r_sensor3.present_pressure_8",
"finger_r_sensor3.present_pressure_9",
"finger_r_sensor4.present_pressure_1",
"finger_r_sensor4.present_pressure_2",
"finger_r_sensor4.present_pressure_3",
"finger_r_sensor4.present_pressure_4",
"finger_r_sensor4.present_pressure_5",
"finger_r_sensor4.present_pressure_6",
"finger_r_sensor4.present_pressure_7",
"finger_r_sensor4.present_pressure_8",
"finger_r_sensor4.present_pressure_9",
"finger_r_sensor5.present_pressure_1",
"finger_r_sensor5.present_pressure_2",
"finger_r_sensor5.present_pressure_3",
"finger_r_sensor5.present_pressure_4",
"finger_r_sensor5.present_pressure_5",
"finger_r_sensor5.present_pressure_6",
"finger_r_sensor5.present_pressure_7",
"finger_r_sensor5.present_pressure_8",
"finger_r_sensor5.present_pressure_9"
]
},
"observation.images.cam_head": {
"dtype": "video",
"shape": [
376,
672,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 376,
"video.width": 672,
"video.codec": "mpeg4",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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