Datasets:
metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- robotics
- mimicgen
- coffee_d0
- holder-jitter
- sigma-0.05
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"action": {
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"shape": [
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"names": {
"axes": [
"delta_x",
"delta_y",
"delta_z",
"delta_rx",
"delta_ry",
"delta_rz",
"gripper"
]
}
},
"observation.state": {
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"shape": [
66
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"names": {
"axes": [
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"eef_y",
"eef_z",
"eef_qx",
"eef_qy",
"eef_qz",
"eef_qw",
"gripper_left",
"gripper_right",
"object_0",
"object_1",
"object_2",
"object_3",
"object_4",
"object_5",
"object_6",
"object_7",
"object_8",
"object_9",
"object_10",
"object_11",
"object_12",
"object_13",
"object_14",
"object_15",
"object_16",
"object_17",
"object_18",
"object_19",
"object_20",
"object_21",
"object_22",
"object_23",
"object_24",
"object_25",
"object_26",
"object_27",
"object_28",
"object_29",
"object_30",
"object_31",
"object_32",
"object_33",
"object_34",
"object_35",
"object_36",
"object_37",
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"object_39",
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]
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},
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},
"observation.robot0_eef_pos": {
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},
"observation.robot0_eef_pos_rel_pod": {
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"observation.robot0_eef_pos_rel_pod_holder": {
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3
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},
"observation.robot0_eef_vel_ang": {
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"names": null
},
"observation.robot0_eef_vel_lin": {
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},
"observation.robot0_gripper_qpos": {
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"names": null
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2
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"names": null
},
"observation.robot0_joint_pos": {
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7
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"names": null
},
"observation.robot0_joint_pos_cos": {
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},
"observation.robot0_joint_pos_sin": {
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},
"observation.robot0_joint_vel": {
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"timestamp": {
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"frame_index": {
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"episode_index": {
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"index": {
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"task_index": {
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"names": null
}
},
"total_episodes": 100,
"total_frames": 40000,
"total_tasks": 1,
"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": "Panda",
"splits": {
"train": "0:100"
}
}
Citation
BibTeX:
[More Information Needed]