This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 1800,
"total_frames": 375829,
"total_tasks": 672,
"total_videos": 9000,
"total_chunks": 0,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1800"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
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],
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}
},
"observation.images.wrist_rgb": {
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3
],
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},
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256,
256,
3
],
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}
},
"observation.images.right_shoulder_rgb": {
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256,
256,
3
],
"info": {
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"video.width": 256,
"video.codec": "av1",
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"video.is_depth_map": false,
"video.fps": 10,
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}
},
"observation.images.overhead_rgb": {
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"shape": [
256,
256,
3
],
"info": {
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"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
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}
},
"observation.joint_velocities": {
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7
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},
"observation.joint_positions": {
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7
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},
"observation.joint_forces": {
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7
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},
"observation.gripper_open": {
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1
]
},
"observation.gripper_pose": {
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7
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},
"observation.gripper_joint_positions": {
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2
]
},
"observation.gripper_touch_forces": {
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"shape": [
6
]
},
"action": {
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"shape": [
8
]
},
"timestamp": {
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1
],
"names": null
},
"frame_index": {
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1
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"names": null
},
"episode_index": {
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1
],
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},
"index": {
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},
"task_index": {
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"shape": [
1
],
"names": null
}
}
}
Citation
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