This dataset was created using LeRobot.
Tasks
- jam
- cereal
- pear
- sweet potato
- scone
- boxed food
- can
- hamburger
- lemon
- squash
- cheese
- cup
- egg
- ham
- hot dog
- apple
- boxed drink
- bread
- candle
- chicken breast
- soap dispenser
- jar
- knife block
- kettle
- potato
- basket
- cake
- orange
- spice
- spray
- alcohol
- blender jug
- mushroom
- salt and pepper shaker
- tiered shelf
- condiment
- mango
- pitcher
- plant
- stool
Dataset Structure
{
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"fps": 20,
"features": {
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"joint2",
"joint3",
"joint4",
"joint5",
"joint6"
]
},
"robot0_eef_pos": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
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},
"robot0_eef_quat_site": {
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"shape": [
4
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"names": [
"qx",
"qy",
"qz",
"qw"
]
},
"robot0_gripper_qpos": {
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"shape": [
2
],
"names": [
"q0",
"q1"
]
},
"robot0_proprio-state": {
"dtype": "float32",
"shape": [
50
],
"names": [
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"robot0_joint_pos_1",
"robot0_joint_pos_2",
"robot0_joint_pos_3",
"robot0_joint_pos_4",
"robot0_joint_pos_5",
"robot0_joint_pos_6",
"robot0_joint_pos_cos_0",
"robot0_joint_pos_cos_1",
"robot0_joint_pos_cos_2",
"robot0_joint_pos_cos_3",
"robot0_joint_pos_cos_4",
"robot0_joint_pos_cos_5",
"robot0_joint_pos_cos_6",
"robot0_joint_pos_sin_0",
"robot0_joint_pos_sin_1",
"robot0_joint_pos_sin_2",
"robot0_joint_pos_sin_3",
"robot0_joint_pos_sin_4",
"robot0_joint_pos_sin_5",
"robot0_joint_pos_sin_6",
"robot0_joint_vel_0",
"robot0_joint_vel_1",
"robot0_joint_vel_2",
"robot0_joint_vel_3",
"robot0_joint_vel_4",
"robot0_joint_vel_5",
"robot0_joint_vel_6",
"robot0_joint_acc_0",
"robot0_joint_acc_1",
"robot0_joint_acc_2",
"robot0_joint_acc_3",
"robot0_joint_acc_4",
"robot0_joint_acc_5",
"robot0_joint_acc_6",
"robot0_eef_pos_x",
"robot0_eef_pos_y",
"robot0_eef_pos_z",
"robot0_eef_quat_x",
"robot0_eef_quat_y",
"robot0_eef_quat_z",
"robot0_eef_quat_w",
"robot0_eef_quat_site_x",
"robot0_eef_quat_site_y",
"robot0_eef_quat_site_z",
"robot0_eef_quat_site_w",
"robot0_gripper_qpos_0",
"robot0_gripper_qpos_1",
"robot0_gripper_qvel_0",
"robot0_gripper_qvel_1"
]
},
"action": {
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"names": [
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"rx",
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},
"reward": {
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"names": [
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},
"done": {
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"shape": [
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"names": [
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},
"env_seed": {
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"names": [
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},
"num_objects": {
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"shape": [
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"names": [
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},
"object_classes": {
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"names": [
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},
"obj_0_pos": {
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},
"obj_0_quat": {
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"names": [
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},
"obj_1_pos": {
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"obj_1_quat": {
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"obj_2_pos": {
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},
"obj_2_quat": {
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"obj_3_pos": {
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},
"obj_3_quat": {
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},
"obj_4_pos": {
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"obj_4_quat": {
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]
},
"timestamp": {
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"shape": [
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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
}
},
"total_episodes": 787,
"total_frames": 195184,
"total_tasks": 40,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": null,
"robot_type": "Panda",
"splits": {
"train": "0:787"
}
}
Citation
BibTeX:
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