metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- robosuite
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "robosuite",
"total_episodes": 5,
"total_frames": 367,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 20,
"splits": {
"train": "0:5"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": null,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
34
],
"names": [
"s0",
"s1",
"s2",
"s3",
"s4",
"s5",
"s6",
"s7",
"s8",
"s9",
"s10",
"s11",
"s12",
"s13",
"s14",
"s15",
"s16",
"s17",
"s18",
"s19",
"s20",
"s21",
"s22",
"s23",
"s24",
"s25",
"s26",
"s27",
"s28",
"s29",
"s30",
"s31",
"s32",
"s33"
]
},
"action": {
"dtype": "float32",
"shape": [
8
],
"names": [
"a0",
"a1",
"a2",
"a3",
"a4",
"a5",
"a6",
"a7"
]
},
"reward": {
"dtype": "float32",
"shape": [
1
],
"names": [
"reward"
]
},
"observation.gripper_to_hammer": {
"dtype": "float32",
"shape": [
3
]
},
"observation.gripper_to_nail": {
"dtype": "float32",
"shape": [
3
]
},
"observation.hammer_back_pos": {
"dtype": "float32",
"shape": [
3
]
},
"observation.hammer_back_quat": {
"dtype": "float32",
"shape": [
4
]
},
"observation.hammer_center_pos": {
"dtype": "float32",
"shape": [
3
]
},
"observation.hammer_center_quat": {
"dtype": "float32",
"shape": [
4
]
},
"observation.hammer_center_vel": {
"dtype": "float32",
"shape": [
6
]
},
"observation.hammer_front_nail_force": {
"dtype": "float32",
"shape": [
1
]
},
"observation.hammer_front_pos": {
"dtype": "float32",
"shape": [
3
]
},
"observation.hammer_front_quat": {
"dtype": "float32",
"shape": [
4
]
},
"observation.kin_hammer_main": {
"dtype": "float32",
"shape": [
7
]
},
"observation.kin_nail_main": {
"dtype": "float32",
"shape": [
7
]
},
"observation.kin_robot0_joint_pos": {
"dtype": "float32",
"shape": [
7
]
},
"observation.nail_pos": {
"dtype": "float32",
"shape": [
3
]
},
"observation.nail_quat": {
"dtype": "float32",
"shape": [
4
]
},
"observation.object-state": {
"dtype": "float32",
"shape": [
41
]
},
"observation.robot0_eef_pos": {
"dtype": "float32",
"shape": [
3
]
},
"observation.robot0_eef_quat": {
"dtype": "float32",
"shape": [
4
]
},
"observation.robot0_eef_quat_site": {
"dtype": "float32",
"shape": [
4
]
},
"observation.robot0_gripper_qpos": {
"dtype": "float32",
"shape": [
2
]
},
"observation.robot0_gripper_qvel": {
"dtype": "float32",
"shape": [
2
]
},
"observation.robot0_joint_acc": {
"dtype": "float32",
"shape": [
7
]
},
"observation.robot0_joint_pos": {
"dtype": "float32",
"shape": [
7
]
},
"observation.robot0_joint_pos_cos": {
"dtype": "float32",
"shape": [
7
]
},
"observation.robot0_joint_pos_sin": {
"dtype": "float32",
"shape": [
7
]
},
"observation.robot0_joint_vel": {
"dtype": "float32",
"shape": [
7
]
},
"observation.robot0_proprio-state": {
"dtype": "float32",
"shape": [
50
]
},
"observation.task_idx": {
"dtype": "float32",
"shape": [
1
]
},
"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
}
}
}
Citation
BibTeX:
[More Information Needed]