Datasets:
38 episodes · 29.943 fps · 3 cameras · 960×600 h264
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 29.943,
"features": {
"observation.joints": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_gripper_motor_joint.pos",
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"right_gripper_motor_joint.pos",
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos"
]
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_ee.x",
"left_ee.y",
"left_ee.z",
"left_ee.rx",
"left_ee.ry",
"left_ee.rz",
"left_gripper_motor_joint.mm",
"right_ee.x",
"right_ee.y",
"right_ee.z",
"right_ee.rx",
"right_ee.ry",
"right_ee.rz",
"right_gripper_motor_joint.mm"
]
},
"observation.grippers": {
"dtype": "float32",
"shape": [
2
],
"names": [
"left_gripper_motor_joint.mm",
"right_gripper_motor_joint.mm"
]
},
"observation.ee_pose": {
"dtype": "float32",
"shape": [
12
],
"names": [
"left_ee.x",
"left_ee.y",
"left_ee.z",
"left_ee.rx",
"left_ee.ry",
"left_ee.rz",
"right_ee.x",
"right_ee.y",
"right_ee.z",
"right_ee.rx",
"right_ee.ry",
"right_ee.rz"
]
},
"action.source": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"intervention": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"stamp_ns": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"stamp_ns.top": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"stamp_ns.left_wrist": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"stamp_ns.right_wrist": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.images.top": {
"dtype": "video",
"shape": [
600,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 600,
"video.width": 960,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.fps": 29.943,
"video.channels": 3,
"has_audio": false,
"is_depth_map": false
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
600,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 600,
"video.width": 960,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.fps": 29.943,
"video.channels": 3,
"has_audio": false,
"is_depth_map": false
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
600,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 600,
"video.width": 960,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.fps": 29.943,
"video.channels": 3,
"has_audio": false,
"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": 38,
"total_frames": 33043,
"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": null,
"splits": {
"train": "0:38"
}
}
Citation
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