bkuster/jsi_franka_peg_in_hole_v12
This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v3.0", "robot_type": "robotblockset_robot", "total_episodes": 2308, "total_frames": 106364, "total_tasks": 30, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 15, "splits": { "train": "0:2308" }, "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "video_path":… See the full description on the dataset page: https://huggingface.co/datasets/bkuster/jsi_franka_peg_in_hole_v12.
0265
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "robotblockset_robot",
"total_episodes": 2308,
"total_frames": 106364,
"total_tasks": 30,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:2308"
},
"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": {
"action": {
"dtype": "float32",
"names": [
"cart_pos_x_tool_commanded_rel",
"cart_pos_y_tool_commanded_rel",
"cart_pos_z_tool_commanded_rel",
"cart_rot_x_tool_commanded_rel",
"cart_rot_y_tool_commanded_rel",
"cart_rot_z_tool_commanded_rel",
"gripper"
],
"shape": [
7
]
},
"observation.state": {
"dtype": "float32",
"names": [
"cart_pos_x_measured",
"cart_pos_y_measured",
"cart_pos_z_measured",
"cart_rot6d_0_measured",
"cart_rot6d_1_measured",
"cart_rot6d_2_measured",
"cart_rot6d_3_measured",
"cart_rot6d_4_measured",
"cart_rot6d_5_measured",
"cart_pos_x_commanded",
"cart_pos_y_commanded",
"cart_pos_z_commanded",
"cart_rot6d_0_commanded",
"cart_rot6d_1_commanded",
"cart_rot6d_2_commanded",
"cart_rot6d_3_commanded",
"cart_rot6d_4_commanded",
"cart_rot6d_5_commanded",
"cart_x.vel_measured",
"cart_y.vel_measured",
"cart_z.vel_measured",
"cart_wx.vel_measured",
"cart_wy.vel_measured",
"cart_wz.vel_measured"
],
"shape": [
24
]
},
"observation.images.image": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.image2": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"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
}
}
}Citation
BibTeX:
[More Information Needed]