danielsanjosepro/stack_multi_v1
This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v2.1", "robot_type": "franka", "total_episodes": 51, "total_frames": 44895, "total_tasks": 1, "total_videos": 102, "total_chunks": 1, "chunks_size": 1000, "fps": 25, "splits": { "train": "0:51" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path":… See the full description on the dataset page: https://huggingface.co/datasets/danielsanjosepro/stack_multi_v1.
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1---2license: apache-2.03task_categories:4- robotics5tags:6- LeRobot7configs:8- config_name: default9 data_files: data/*/*.parquet10---11 12This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).13 14## Dataset Description15 16 17 18- **Homepage:** [More Information Needed]19- **Paper:** [More Information Needed]20- **License:** apache-2.021 22## Dataset Structure23 24[meta/info.json](meta/info.json):25```json26{27 "codebase_version": "v2.1",28 "robot_type": "franka",29 "total_episodes": 51,30 "total_frames": 44895,31 "total_tasks": 1,32 "total_videos": 102,33 "total_chunks": 1,34 "chunks_size": 1000,35 "fps": 25,36 "splits": {37 "train": "0:51"38 },39 "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",40 "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",41 "features": {42 "observation.images.primary": {43 "dtype": "video",44 "shape": [45 256,46 256,47 348 ],49 "names": [50 "height",51 "width",52 "channels"53 ],54 "video_info": {55 "video.fps": 30.0,56 "video.codec": "av1",57 "video.pix_fmt": "yuv420p",58 "video.is_depth_map": false,59 "has_audio": false60 },61 "info": {62 "video.height": 256,63 "video.width": 256,64 "video.codec": "av1",65 "video.pix_fmt": "yuv420p",66 "video.is_depth_map": false,67 "video.fps": 25,68 "video.channels": 3,69 "has_audio": false70 }71 },72 "observation.images.wrist": {73 "dtype": "video",74 "shape": [75 256,76 256,77 378 ],79 "names": [80 "height",81 "width",82 "channels"83 ],84 "video_info": {85 "video.fps": 30.0,86 "video.codec": "av1",87 "video.pix_fmt": "yuv420p",88 "video.is_depth_map": false,89 "has_audio": false90 },91 "info": {92 "video.height": 256,93 "video.width": 256,94 "video.codec": "av1",95 "video.pix_fmt": "yuv420p",96 "video.is_depth_map": false,97 "video.fps": 25,98 "video.channels": 3,99 "has_audio": false100 }101 },102 "observation.state.cartesian": {103 "dtype": "float32",104 "shape": [105 6106 ],107 "names": [108 "x",109 "y",110 "z",111 "roll",112 "pitch",113 "yaw"114 ]115 },116 "observation.state.gripper": {117 "dtype": "float32",118 "shape": [119 1120 ],121 "names": [122 "gripper"123 ]124 },125 "observation.state.joints": {126 "dtype": "float32",127 "shape": [128 7129 ],130 "names": [131 "joint_0",132 "joint_1",133 "joint_2",134 "joint_3",135 "joint_4",136 "joint_5",137 "joint_6"138 ]139 },140 "observation.state.sensors_ft_sensor": {141 "dtype": "float32",142 "shape": [143 6144 ],145 "names": [146 "sensors_ft_sensor_0",147 "sensors_ft_sensor_1",148 "sensors_ft_sensor_2",149 "sensors_ft_sensor_3",150 "sensors_ft_sensor_4",151 "sensors_ft_sensor_5"152 ]153 },154 "observation.state.target": {155 "dtype": "float32",156 "shape": [157 6158 ],159 "names": [160 "target_x",161 "target_y",162 "target_z",163 "target_roll",164 "target_pitch",165 "target_yaw"166 ]167 },168 "observation.state": {169 "dtype": "float32",170 "shape": [171 26172 ],173 "names": [174 "x",175 "y",176 "z",177 "roll",178 "pitch",179 "yaw",180 "gripper",181 "joint_0",182 "joint_1",183 "joint_2",184 "joint_3",185 "joint_4",186 "joint_5",187 "joint_6",188 "sensors_ft_sensor_0",189 "sensors_ft_sensor_1",190 "sensors_ft_sensor_2",191 "sensors_ft_sensor_3",192 "sensors_ft_sensor_4",193 "sensors_ft_sensor_5",194 "target_x",195 "target_y",196 "target_z",197 "target_roll",198 "target_pitch",199 "target_yaw"200 ]201 },202 "action": {203 "dtype": "float32",204 "shape": [205 7206 ],207 "names": [208 "x",209 "y",210 "z",211 "roll",212 "pitch",213 "yaw",214 "gripper"215 ]216 },217 "timestamp": {218 "dtype": "float32",219 "shape": [220 1221 ],222 "names": null223 },224 "frame_index": {225 "dtype": "int64",226 "shape": [227 1228 ],229 "names": null230 },231 "episode_index": {232 "dtype": "int64",233 "shape": [234 1235 ],236 "names": null237 },238 "index": {239 "dtype": "int64",240 "shape": [241 1242 ],243 "names": null244 },245 "task_index": {246 "dtype": "int64",247 "shape": [248 1249 ],250 "names": null251 }252 }253}254```255 256 257## Citation258 259**BibTeX:**260 261```bibtex262[More Information Needed]263```