9 episodes · 30 fps · 2 cameras · 200×200
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 9,
"total_frames": 503,
"total_tasks": 9,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:9"
},
"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": {
"observation.images.front": {
"dtype": "video",
"shape": [
200,
200,
3
],
"names": [
"h",
"w",
"c"
]
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
84,
84,
3
],
"names": [
"h",
"w",
"c"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
15
],
"names": [
"ee_position_x",
"ee_position_y",
"ee_position_z",
"ee_orientation_rx",
"ee_orientation_ry",
"ee_orientation_rz",
"gripper_width",
"joint_position_00",
"joint_position_01",
"joint_position_02",
"joint_position_03",
"joint_position_04",
"joint_position_05",
"joint_position_06",
"gripper_action"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"ee_position_x",
"ee_position_y",
"ee_position_z",
"ee_orientation_rx",
"ee_orientation_ry",
"ee_orientation_rz",
"gripper_action"
]
},
"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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