nick-sep14

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": "v3.0",
    "fps": 30,
    "features": {
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            "shape": [
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            ],
            "names": [
                "vel_x",
                "vel_y",
                "vel_z",
                "room_vel_x",
                "room_vel_y",
                "wrist_speed",
                "finger_speed",
                "contact_vec_x",
                "contact_vec_y",
                "contact_vec_z",
                "episode_end"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "vel_x",
                "vel_y",
                "vel_z",
                "wrist_speed",
                "finger_speed",
                "gripper_pos_x",
                "gripper_pos_y",
                "gripper_pos_z",
                "gripper_rot_0",
                "gripper_rot_1",
                "gripper_rot_2",
                "gripper_rot_3",
                "gripper_rot_4",
                "gripper_rot_5",
                "spin",
                "finger_angle",
                "laser_rangefinder",
                "finger_pressure",
                "wrist_angle",
                "target_force",
                "hamper_bearing",
                "hamper_distance",
                "toybox_bearing",
                "toybox_distance",
                "trashcan_bearing",
                "trashcan_distance",
                "gamepad_bearing",
                "gamepad_distance",
                "parking_location_bearing",
                "parking_location_distance",
                "swing_cancellation_on",
                "tension_0",
                "tension_1",
                "tension_2",
                "tension_3",
                "gantry_position_x",
                "gantry_position_y",
                "gantry_position_z",
                "visual_pos_x",
                "visual_pos_y",
                "visual_pos_z",
                "hang_pos_x",
                "hang_pos_y",
                "hang_pos_z"
            ]
        },
        "observation.images.gripper_camera": {
            "dtype": "video",
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            ],
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                "channels"
            ],
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                "video.height": 384,
                "video.width": 684,
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                "video.crf": 30,
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        },
        "observation.images.overhead_camera": {
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        "observation.images.anchor_camera_0": {
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                "video.height": 544,
                "video.width": 960,
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        "observation.images.anchor_camera_1": {
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                "video.height": 544,
                "video.width": 960,
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                "video.fps": 30,
                "video.channels": 3,
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                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
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                "video.extra_options": {}
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        },
        "anchor_poses": {
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            "shape": [
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            ],
            "names": [
                "anchor_0_rx",
                "anchor_0_ry",
                "anchor_0_rz",
                "anchor_0_x",
                "anchor_0_y",
                "anchor_0_z",
                "anchor_1_rx",
                "anchor_1_ry",
                "anchor_1_rz",
                "anchor_1_x",
                "anchor_1_y",
                "anchor_1_z"
            ]
        },
        "anchor_cam_tilt": {
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            "shape": [
                2
            ],
            "names": [
                "anchor_0_cam_tilt",
                "anchor_1_cam_tilt"
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            "names": null
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        "frame_index": {
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        },
        "episode_index": {
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        },
        "task_index": {
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            "names": null
        }
    },
    "total_episodes": 72,
    "total_frames": 42163,
    "total_tasks": 4,
    "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": "stringman",
    "splits": {
        "train": "0:72"
    }
}

Citation

BibTeX:

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