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Datasets:
lucazanett
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wiping_04

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
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Size:
10K - 100K
Tags:
LeRobot
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Dask
Polars
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[ -3.634847640991211, -0.5496645569801331, 2.6786086559295654, 0.07087408751249313, 0.10348877310752869, 0.2608688771724701 ]
3.266667
98
0
98
0
[ 0.5496699810028076, -0.1856311708688736, 0.06545054167509079, 0.14632415771484375, -0.15287038683891296, 2.7768330574035645, 500, 500, 232.15322875976562, 30, 30, 30, 0 ]
[ 0.5660380721092224, -0.17755821347236633, 0.0894932895898819, -0.04485691338777542, -0.055559925734996796, 2.7245585918426514, 0.08500000089406967, 0, 0 ]
[ -3.5382347106933594, 0.18540732562541962, 2.791551113128662, 0.12435498088598251, 0.0834825411438942, 0.25571033358573914 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "custom_manipulator",
    "total_episodes": 50,
    "total_frames": 33797,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "position.x",
                "position.y",
                "position.z",
                "orientation.x",
                "orientation.y",
                "orientation.z",
                "stiffness.tx",
                "stiffness.ty",
                "stiffness.tz",
                "stiffness.rx",
                "stiffness.ry",
                "stiffness.rz",
                "gripper"
            ],
            "shape": [
                13
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "position.x",
                "position.y",
                "position.z",
                "orientation.x",
                "orientation.y",
                "orientation.z",
                "gripper",
                "gripper_force",
                "obj_detected"
            ],
            "shape": [
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            ]
        },
        "observation.images.wrist_rgb": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.behind_rgb": {
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.environment_state": {
            "dtype": "float32",
            "names": [
                "ft_fx",
                "ft_fy",
                "ft_fz",
                "ft_tx",
                "ft_ty",
                "ft_tz"
            ],
            "shape": [
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            ]
        },
        "timestamp": {
            "dtype": "float32",
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

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