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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 143,
"total_frames": 27784,
"total_tasks": 3,
"total_videos": 715,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:143"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
46
],
"names": [
"joint_pos_left_0",
"joint_pos_left_1",
"joint_pos_left_2",
"joint_pos_left_3",
"joint_pos_left_4",
"joint_pos_left_5",
"joint_pos_left_6",
"joint_pos_right_0",
"joint_pos_right_1",
"joint_pos_right_2",
"joint_pos_right_3",
"joint_pos_right_4",
"joint_pos_right_5",
"joint_pos_right_6",
"tcp_left_pos_x",
"tcp_left_pos_y",
"tcp_left_pos_z",
"tcp_left_quat_x",
"tcp_left_quat_y",
"tcp_left_quat_z",
"tcp_left_quat_w",
"tcp_right_pos_x",
"tcp_right_pos_y",
"tcp_right_pos_z",
"tcp_right_quat_x",
"tcp_right_quat_y",
"tcp_right_quat_z",
"tcp_right_quat_w",
"gripper_left_0",
"gripper_left_1",
"gripper_right_0",
"gripper_right_1",
"last_command_left_0",
"last_command_left_1",
"last_command_left_2",
"last_command_left_3",
"last_command_left_4",
"last_command_left_5",
"last_command_left_6",
"last_command_right_0",
"last_command_right_1",
"last_command_right_2",
"last_command_right_3",
"last_command_right_4",
"last_command_right_5",
"last_command_right_6"
]
},
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
"tcp_left_x",
"tcp_left_y",
"tcp_left_z",
"tcp_left_quat_x",
"tcp_left_quat_y",
"tcp_left_quat_z",
"tcp_left_quat_w",
"tcp_right_x",
"tcp_right_y",
"tcp_right_z",
"tcp_right_quat_x",
"tcp_right_quat_y",
"tcp_right_quat_z",
"tcp_right_quat_w",
"gripper_left",
"gripper_right"
]
},
"observation.images.rgb_static": {
"dtype": "video",
"shape": [
512,
512,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 512,
"video.width": 512,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.rgb_left": {
"dtype": "video",
"shape": [
512,
512,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 512,
"video.width": 512,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.rgb_right": {
"dtype": "video",
"shape": [
512,
512,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 512,
"video.width": 512,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.depth_left": {
"dtype": "video",
"shape": [
512,
512,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 512,
"video.width": 512,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.depth_right": {
"dtype": "video",
"shape": [
512,
512,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 512,
"video.width": 512,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"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
}
}
}
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