younghyopark/pick_tblock_mp_debug
This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v2.1", "robot_type": "DualPanda", "total_episodes": 30, "total_frames": 6690, "total_tasks": 1, "total_videos": 0, "total_chunks": 1, "chunks_size": 1000, "fps": 50, "splits": { "train": "0:30" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": null, "features": {… See the full description on the dataset page: https://huggingface.co/datasets/younghyopark/pick_tblock_mp_debug.
068
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": "v2.1",
"robot_type": "DualPanda",
"total_episodes": 30,
"total_frames": 6690,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:30"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {
"observation.joint": {
"dtype": "float32",
"shape": [
16
],
"names": [
"l_robot/joint1",
"l_robot/joint2",
"l_robot/joint3",
"l_robot/joint4",
"l_robot/joint5",
"l_robot/joint6",
"l_robot/joint7",
"l_robot/right_driver_joint",
"l_robot/right_coupler_joint",
"l_robot/right_spring_link_joint",
"l_robot/right_follower_joint",
"l_robot/left_driver_joint",
"l_robot/left_coupler_joint",
"l_robot/left_spring_link_joint",
"l_robot/left_follower_joint",
"r_robot/joint1",
"r_robot/joint2",
"r_robot/joint3",
"r_robot/joint4",
"r_robot/joint5",
"r_robot/joint6",
"r_robot/joint7",
"r_robot/right_driver_joint",
"r_robot/right_coupler_joint",
"r_robot/right_spring_link_joint",
"r_robot/right_follower_joint",
"r_robot/left_driver_joint",
"r_robot/left_coupler_joint",
"r_robot/left_spring_link_joint",
"r_robot/left_follower_joint"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
30
],
"names": [
"l_robot/joint1",
"l_robot/joint2",
"l_robot/joint3",
"l_robot/joint4",
"l_robot/joint5",
"l_robot/joint6",
"l_robot/joint7",
"l_robot/right_driver_joint",
"l_robot/right_coupler_joint",
"l_robot/right_spring_link_joint",
"l_robot/right_follower_joint",
"l_robot/left_driver_joint",
"l_robot/left_coupler_joint",
"l_robot/left_spring_link_joint",
"l_robot/left_follower_joint",
"r_robot/joint1",
"r_robot/joint2",
"r_robot/joint3",
"r_robot/joint4",
"r_robot/joint5",
"r_robot/joint6",
"r_robot/joint7",
"r_robot/right_driver_joint",
"r_robot/right_coupler_joint",
"r_robot/right_spring_link_joint",
"r_robot/right_follower_joint",
"r_robot/left_driver_joint",
"r_robot/left_coupler_joint",
"r_robot/left_spring_link_joint",
"r_robot/left_follower_joint"
]
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"tblock_px",
"tblock_py",
"tblock_pz",
"tblock_qw",
"tblock_qx",
"tblock_qy",
"tblock_qz"
]
},
"observation.environment.block_xy": {
"dtype": "float32",
"shape": [
2
],
"names": [
"block_x",
"block_y"
]
},
"observation.right_arm.joint": {
"dtype": "float32",
"shape": [
7
]
},
"observation.right.joint": {
"dtype": "float32",
"shape": [
8
]
},
"observation.left_arm.joint": {
"dtype": "float32",
"shape": [
7
]
},
"observation.qvel": {
"dtype": "float32",
"shape": [
30
],
"names": [
"l_robot/joint1",
"l_robot/joint2",
"l_robot/joint3",
"l_robot/joint4",
"l_robot/joint5",
"l_robot/joint6",
"l_robot/joint7",
"l_robot/right_driver_joint",
"l_robot/right_coupler_joint",
"l_robot/right_spring_link_joint",
"l_robot/right_follower_joint",
"l_robot/left_driver_joint",
"l_robot/left_coupler_joint",
"l_robot/left_spring_link_joint",
"l_robot/left_follower_joint",
"r_robot/joint1",
"r_robot/joint2",
"r_robot/joint3",
"r_robot/joint4",
"r_robot/joint5",
"r_robot/joint6",
"r_robot/joint7",
"r_robot/right_driver_joint",
"r_robot/right_coupler_joint",
"r_robot/right_spring_link_joint",
"r_robot/right_follower_joint",
"r_robot/left_driver_joint",
"r_robot/left_coupler_joint",
"r_robot/left_spring_link_joint",
"r_robot/left_follower_joint"
]
},
"observation.env_qvel": {
"dtype": "float32",
"shape": [
6
],
"names": [
"tblock_vx",
"tblock_vy",
"tblock_vz",
"tblock_wx",
"tblock_wy",
"tblock_wz"
]
},
"observation.ee_pose": {
"dtype": "float32",
"shape": [
16
],
"names": [
"l_robot/hand_x",
"l_robot/hand_y",
"l_robot/hand_z",
"l_robot/hand_qw",
"l_robot/hand_qx",
"l_robot/hand_qy",
"l_robot/hand_qz",
"l_robot/gripper",
"r_robot/hand_x",
"r_robot/hand_y",
"r_robot/hand_z",
"r_robot/hand_qw",
"r_robot/hand_qx",
"r_robot/hand_qy",
"r_robot/hand_qz",
"r_robot/gripper"
]
},
"action.ctrl": {
"dtype": "float32",
"shape": [
16
],
"names": [
"l_robot/actuator1",
"l_robot/actuator2",
"l_robot/actuator3",
"l_robot/actuator4",
"l_robot/actuator5",
"l_robot/actuator6",
"l_robot/actuator7",
"l_robot/fingers_actuator",
"r_robot/actuator1",
"r_robot/actuator2",
"r_robot/actuator3",
"r_robot/actuator4",
"r_robot/actuator5",
"r_robot/actuator6",
"r_robot/actuator7",
"r_robot/fingers_actuator"
]
},
"action.joint": {
"dtype": "float32",
"shape": [
16
],
"names": [
"l_robot/actuator1",
"l_robot/actuator2",
"l_robot/actuator3",
"l_robot/actuator4",
"l_robot/actuator5",
"l_robot/actuator6",
"l_robot/actuator7",
"l_robot/fingers_actuator",
"r_robot/actuator1",
"r_robot/actuator2",
"r_robot/actuator3",
"r_robot/actuator4",
"r_robot/actuator5",
"r_robot/actuator6",
"r_robot/actuator7",
"r_robot/fingers_actuator"
]
},
"action.ee_pose": {
"dtype": "float32",
"shape": [
16
],
"names": [
"l_robot/hand_x",
"l_robot/hand_y",
"l_robot/hand_z",
"l_robot/hand_qw",
"l_robot/hand_qx",
"l_robot/hand_qy",
"l_robot/hand_qz",
"l_robot/gripper",
"r_robot/hand_x",
"r_robot/hand_y",
"r_robot/hand_z",
"r_robot/hand_qw",
"r_robot/hand_qx",
"r_robot/hand_qy",
"r_robot/hand_qz",
"r_robot/gripper"
]
},
"action.right_arm.joint": {
"dtype": "float32",
"shape": [
7
]
},
"action.right.joint": {
"dtype": "float32",
"shape": [
8
]
},
"action.left_arm.joint": {
"dtype": "float32",
"shape": [
7
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_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]