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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "agibot_g1",
"total_episodes": 25,
"total_frames": 3781,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:25"
},
"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": [
"left_arm.Joint1_l.position",
"left_arm.Joint2_l.position",
"left_arm.Joint3_l.position",
"left_arm.Joint4_l.position",
"left_arm.Joint5_l.position",
"left_arm.Joint6_l.position",
"left_arm.Joint7_l.position",
"right_arm.Joint1_r.position",
"right_arm.Joint2_r.position",
"right_arm.Joint3_r.position",
"right_arm.Joint4_r.position",
"right_arm.Joint5_r.position",
"right_arm.Joint6_r.position",
"right_arm.Joint7_r.position",
"left_gripper.position",
"right_gripper.position"
],
"shape": [
16
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_arm.Joint1_l.position",
"left_arm.Joint2_l.position",
"left_arm.Joint3_l.position",
"left_arm.Joint4_l.position",
"left_arm.Joint5_l.position",
"left_arm.Joint6_l.position",
"left_arm.Joint7_l.position",
"right_arm.Joint1_r.position",
"right_arm.Joint2_r.position",
"right_arm.Joint3_r.position",
"right_arm.Joint4_r.position",
"right_arm.Joint5_r.position",
"right_arm.Joint6_r.position",
"right_arm.Joint7_r.position",
"left_gripper.position",
"right_gripper.position"
],
"shape": [
16
]
},
"observation.images.hand_left_camera": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.hand_right_camera": {
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480,
640,
3
],
"names": [
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"channels"
],
"info": {
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"video.channels": 3,
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}
},
"observation.images.head_camera": {
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"shape": [
480,
640,
3
],
"names": [
"height",
"width",
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],
"info": {
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"video.is_depth_map": false,
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"video.channels": 3,
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}
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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1
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},
"index": {
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1
],
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},
"task_index": {
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1
],
"names": null
}
},
"custom": {
"initial_pose": {
"left_arm": [
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0.7053987979888916,
0.018252700567245483,
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0.4398795962333679,
1.3399854898452759,
0.27499455213546753
],
"right_arm": [
0.13651135563850403,
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0.44612669944763184,
1.342952013015747,
-0.45605576038360596,
-0.8090343475341797,
0.07444169372320175
],
"gripper": [
56.32,
0.0
],
"waist": [
0.0,
0.1069677734375
],
"head": [
-0.8459472511946954,
-0.3610229430603625
]
}
}
}
Citation
BibTeX:
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