Datasets:
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observation.state list | observation.gripper float32 0 1 | action list | action.gripper float32 0 1 | timestamp float32 0 12.8 | frame_index int64 0 385 | episode_index int64 0 99 | index int64 0 25.7k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
Cartesian conversion of spesrobotics/simple_pick for visualization and LIBERO-style processing. observation.state is world-frame link_tool XYZ in metres plus an episode-continuous axis-angle rotation vector in radians. action is the same-frame gripper-local pose error to the absolute joint target, divided by 0.05 m and 0.5 rad. Camera videos and 0/1 closedness gripper channels are unchanged. See conversion.json for provenance.
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"axis_angle_x",
"axis_angle_y",
"axis_angle_z"
]
},
"observation.gripper": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"delta_x",
"delta_y",
"delta_z",
"delta_axis_angle_x",
"delta_axis_angle_y",
"delta_axis_angle_z"
]
},
"action.gripper": {
"dtype": "float32",
"shape": [
1
],
"names": [
"closedness"
]
},
"observation.images.main": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 240,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 240,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": 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
}
},
"total_episodes": 100,
"total_frames": 25694,
"total_tasks": 1,
"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": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"robot_type": "lite6",
"splits": {
"train": "0:100"
}
}
Citation
BibTeX:
[More Information Needed]
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