takeru01/task4_1_task4_2_2_rgb
This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v3.0", "fps": 30, "features": { "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "arm_left_joint_0", "arm_left_joint_1", "arm_left_joint_2", "arm_left_joint_3", "arm_left_joint_4"… See the full description on the dataset page: https://huggingface.co/datasets/takeru01/task4_1_task4_2_2_rgb.
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This dataset was created using LeRobot.
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualizedataset?path=takeru01/task41task422rgb"> <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": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"arm_left_joint_0",
"arm_left_joint_1",
"arm_left_joint_2",
"arm_left_joint_3",
"arm_left_joint_4",
"arm_left_joint_5",
"arm_right_joint_0",
"arm_right_joint_1",
"arm_right_joint_2",
"arm_right_joint_3",
"arm_right_joint_4",
"arm_right_joint_5",
"arm_left_gripper",
"arm_right_gripper"
]
},
"observation.joint_position": {
"dtype": "float32",
"shape": [
12
],
"names": [
"arm_left_joint_0",
"arm_left_joint_1",
"arm_left_joint_2",
"arm_left_joint_3",
"arm_left_joint_4",
"arm_left_joint_5",
"arm_right_joint_0",
"arm_right_joint_1",
"arm_right_joint_2",
"arm_right_joint_3",
"arm_right_joint_4",
"arm_right_joint_5"
]
},
"observation.joint_velocity": {
"dtype": "float32",
"shape": [
12
],
"names": [
"arm_left_joint_0",
"arm_left_joint_1",
"arm_left_joint_2",
"arm_left_joint_3",
"arm_left_joint_4",
"arm_left_joint_5",
"arm_right_joint_0",
"arm_right_joint_1",
"arm_right_joint_2",
"arm_right_joint_3",
"arm_right_joint_4",
"arm_right_joint_5"
]
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"target_arm_left_joint_0",
"target_arm_left_joint_1",
"target_arm_left_joint_2",
"target_arm_left_joint_3",
"target_arm_left_joint_4",
"target_arm_left_joint_5",
"target_arm_right_joint_0",
"target_arm_right_joint_1",
"target_arm_right_joint_2",
"target_arm_right_joint_3",
"target_arm_right_joint_4",
"target_arm_right_joint_5",
"target_arm_left_gripper",
"target_arm_right_gripper"
]
},
"observation.gripper_position": {
"dtype": "float32",
"shape": [
2
],
"names": [
"arm_left_gripper",
"arm_right_gripper"
]
},
"observation.images.camera_front": {
"dtype": "video",
"shape": [
240,
424,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 424,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"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": {}
}
},
"observation.images.camera_top": {
"dtype": "video",
"shape": [
240,
424,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 424,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"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": {}
}
},
"observation.images.camera_left_wrist": {
"dtype": "video",
"shape": [
240,
424,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 424,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"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": {}
}
},
"observation.images.camera_right_wrist": {
"dtype": "video",
"shape": [
240,
424,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 424,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"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": {}
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
},
"total_episodes": 208,
"total_frames": 358540,
"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": "dual_ur5e_rosbag",
"splits": {
"train": "0:208"
}
}Citation
BibTeX:
[More Information Needed]