Keith-Luo/pick_and_place_mix_append_4096
This dataset was created using LeRobot. Dataset Description QuestArmTeleop LeRobot v3 dataset. Point clouds are stored directly in Parquet as observation.pointcloud.xyz (float32 metres, shape [1024, 3], base_link), observation.pointcloud.rgb (uint8 RGB), and observation.pointcloud.valid_mask. They share the same row, frame index and timestamp as state/action. Homepage: [More Information Needed] Paper: [More Information Needed] License: apache-2.0 Dataset… See the full description on the dataset page: https://huggingface.co/datasets/Keith-Luo/pick_and_place_mix_append_4096.
This dataset was created using LeRobot.
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualizedataset?path=Keith-Luo/pickandplacemixappend4096"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a>
Dataset Description
QuestArmTeleop LeRobot v3 dataset. Point clouds are stored directly in Parquet as observation.pointcloud.xyz (float32 metres, shape [1024, 3], baselink), `observation.pointcloud.rgb` (uint8 RGB), and `observation.pointcloud.validmask`. They share the same row, frame index and timestamp as state/action.
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "QuestArmTeleopDualArm",
"total_episodes": 90,
"total_frames": 86321,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:90"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
13
],
"names": [
"vision.base_yaw",
"vision.shoulder_pitch",
"vision.elbow_pitch",
"vision.wrist_pitch",
"vision.wrist_yaw",
"vision.camera_roll",
"manip.joint1",
"manip.joint2",
"manip.joint3",
"manip.joint4",
"manip.joint5",
"manip.joint6",
"manip.gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
13
],
"names": [
"vision.base_yaw",
"vision.shoulder_pitch",
"vision.elbow_pitch",
"vision.wrist_pitch",
"vision.wrist_yaw",
"vision.camera_roll",
"manip.joint1",
"manip.joint2",
"manip.joint3",
"manip.joint4",
"manip.joint5",
"manip.joint6",
"manip.gripper"
]
},
"observation.images.rgb": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"source.camera_frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": [
"frame_index"
]
},
"source.capture_time": {
"dtype": "float64",
"shape": [
1
],
"names": [
"seconds_from_first_camera_frame"
]
},
"source.cambot_camera_pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"source.cambot_color_optical_pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"source.cambot_pose_sync_gap": {
"dtype": "float32",
"shape": [
1
],
"names": [
"seconds"
]
},
"source.manip_tcp_pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"observation.pointcloud.xyz": {
"dtype": "float32",
"shape": [
1024,
3
],
"names": null
},
"observation.pointcloud.rgb": {
"dtype": "uint8",
"shape": [
1024,
3
],
"names": null
},
"observation.pointcloud.valid_mask": {
"dtype": "bool",
"shape": [
1024
],
"names": null
},
"source.pointcloud_valid_count": {
"dtype": "int32",
"shape": [
1
],
"names": [
"points"
]
},
"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:
[More Information Needed]