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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "clamp_forklift",
"total_episodes": 9,
"total_frames": 3376,
"total_tasks": 1,
"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": {
"action": {
"dtype": "float32",
"shape": [
4
],
"names": [
"speed",
"steering_angle",
"lift_position",
"pad_offset"
]
},
"observation.state.joint_positions": {
"dtype": "float32",
"shape": [
9
],
"names": [
"lift_joint",
"left_front_wheel_joint",
"right_front_wheel_joint",
"left_rotator_joint",
"right_rotator_joint",
"pad_left_joint",
"pad_right_joint",
"left_back_wheel_joint",
"right_back_wheel_joint"
]
},
"observation.state.joint_velocities": {
"dtype": "float32",
"shape": [
9
],
"names": [
"lift_joint",
"left_front_wheel_joint",
"right_front_wheel_joint",
"left_rotator_joint",
"right_rotator_joint",
"pad_left_joint",
"pad_right_joint",
"left_back_wheel_joint",
"right_back_wheel_joint"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
9
],
"names": [
"lift_joint",
"left_front_wheel_joint",
"right_front_wheel_joint",
"left_rotator_joint",
"right_rotator_joint",
"pad_left_joint",
"pad_right_joint",
"left_back_wheel_joint",
"right_back_wheel_joint"
]
},
"observation.images.front_camera": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv444p",
"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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