maskjp/hil_pi05_eef_100k

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 50,
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                13
            ],
            "names": [
                "eef.x.pos",
                "eef.y.pos",
                "eef.z.pos",
                "eef.xaxis.x.pos",
                "eef.xaxis.y.pos",
                "eef.xaxis.z.pos",
                "eef.yaxis.x.pos",
                "eef.yaxis.y.pos",
                "eef.yaxis.z.pos",
                "gripper.pos",
                "base_x.pos",
                "base_y.pos",
                "base_yaw.pos"
            ]
        },
        "observation.images.left": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.images.right": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                13
            ],
            "names": [
                "eef.x.pos",
                "eef.y.pos",
                "eef.z.pos",
                "eef.xaxis.x.pos",
                "eef.xaxis.y.pos",
                "eef.xaxis.z.pos",
                "eef.yaxis.x.pos",
                "eef.yaxis.y.pos",
                "eef.yaxis.z.pos",
                "gripper.pos",
                "base_x.pos",
                "base_y.pos",
                "base_yaw.pos"
            ]
        },
        "intervention": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "joints": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "j1.pos",
                "j2.pos",
                "j3.pos",
                "j4.pos",
                "j5.pos",
                "j6.pos"
            ]
        },
        "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": 84,
    "total_frames": 124719,
    "total_tasks": 11,
    "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": "sbot",
    "splits": {
        "train": "0:84"
    }
}

Citation

BibTeX:

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