ibrue/piper-tabletopv2
This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v3.0", "fps": 60, "features": { "observation.state": { "dtype": "float32", "shape": [ 13 ], "names": [ "joint_1_rad", "joint_2_rad", "joint_3_rad", "joint_4_rad", "joint_5_rad", "joint_6_rad"… See the full description on the dataset page: https://huggingface.co/datasets/ibrue/piper-tabletopv2.
This dataset was created using LeRobot.
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=ibrue/piper-tabletopv2"> <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
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 60,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
13
],
"names": [
"joint_1_rad",
"joint_2_rad",
"joint_3_rad",
"joint_4_rad",
"joint_5_rad",
"joint_6_rad",
"gripper",
"ee_x_m",
"ee_y_m",
"ee_z_m",
"ee_roll_rad",
"ee_pitch_rad",
"ee_yaw_rad"
]
},
"action": {
"dtype": "float32",
"shape": [
5
],
"names": [
"x_m",
"y_m",
"z_m",
"yaw_rad",
"gripper"
]
},
"observation.images.exo": {
"dtype": "video",
"shape": [
480,
848,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 848,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 60,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.ego": {
"dtype": "video",
"shape": [
480,
848,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 848,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 60,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": 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
}
},
"total_episodes": 54,
"total_frames": 22830,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": "piper_tabletop",
"splits": {
"train": "0:54"
}
}Citation
BibTeX:
[More Information Needed]