mklovin/icub_real_demo

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "icub_remote",
    "total_episodes": 2,
    "total_frames": 1620,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": [
                "rh_pos_x",
                "rh_pos_y",
                "rh_pos_z",
                "rh_quat_w",
                "rh_quat_x",
                "rh_quat_y",
                "rh_quat_z",
                "rh_gripper",
                "gaze_x",
                "gaze_y",
                "gaze_z"
            ],
            "shape": [
                11
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "torso_pitch",
                "torso_roll",
                "torso_yaw",
                "r_shoulder_pitch",
                "r_shoulder_roll",
                "r_shoulder_yaw",
                "r_elbow",
                "r_wrist_prosup",
                "r_wrist_pitch",
                "r_wrist_yaw",
                "r_hand_finger",
                "r_thumb_oppose",
                "r_thumb_proximal",
                "r_thumb_distal",
                "r_index_proximal",
                "r_index_distal",
                "r_middle_proximal",
                "r_middle_distal",
                "r_pinky",
                "neck_pitch",
                "neck_roll",
                "neck_yaw",
                "eyes_tilt",
                "eyes_version",
                "eyes_vergence"
            ],
            "shape": [
                25
            ]
        },
        "observation.images.left": {
            "dtype": "video",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 240,
                "video.width": 320,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right": {
            "dtype": "video",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 240,
                "video.width": 320,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "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": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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