metadata
task_categories:
- robotics
tags:
- LeRobot
- aloha
This dataset was created using LeRobot.
{
"codebase_version": "v2.0",
"data_path": "data/chunk-{episode_chunk:03d}/train-{episode_index:05d}-of-{total_episodes:05d}.parquet",
"robot_type": "aloha",
"total_episodes": 25,
"total_frames": 8750,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:25"
},
"keys": [
"observation.state",
"observation.effort",
"action"
],
"video_keys": [
"observation.images.cam_high",
"observation.images.cam_left_wrist",
"observation.images.cam_low",
"observation.images.cam_right_wrist"
],
"image_keys": [],
"shapes": {
"observation.state": 14,
"observation.effort": 14,
"action": 14,
"observation.images.cam_high": {
"width": 640,
"height": 480,
"channels": 3
},
"observation.images.cam_left_wrist": {
"width": 640,
"height": 480,
"channels": 3
},
"observation.images.cam_low": {
"width": 640,
"height": 480,
"channels": 3
},
"observation.images.cam_right_wrist": {
"width": 640,
"height": 480,
"channels": 3
}
},
"names": {
"observation.state": [
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
],
"action": [
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
],
"observation.effort": [
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
},
"videos": {
"videos_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"observation.images.cam_high": {
"video.fps": 50.0,
"video.width": 640,
"video.height": 480,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"observation.images.cam_left_wrist": {
"video.fps": 50.0,
"video.width": 640,
"video.height": 480,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"observation.images.cam_low": {
"video.fps": 50.0,
"video.width": 640,
"video.height": 480,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"observation.images.cam_right_wrist": {
"video.fps": 50.0,
"video.width": 640,
"video.height": 480,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
}
}