Datasets:
metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- hepha
- mujoco
- ik
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": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"cnc_x.pos",
"cnc_y.pos",
"head_z.pos",
"shoulder_l.pos",
"forearm_l.pos",
"arm_l.pos",
"wrist_l.pos",
"hand_l.pos",
"finger_l.pos",
"shoulder_r.pos",
"forearm_r.pos",
"arm_r.pos",
"wrist_r.pos",
"hand_r.pos",
"finger_r.pos"
],
"shape": [
15
]
},
"observation.state": {
"dtype": "float32",
"names": [
"cnc_x.pos",
"cnc_y.pos",
"head_z.pos",
"shoulder_l.pos",
"forearm_l.pos",
"arm_l.pos",
"wrist_l.pos",
"hand_l.pos",
"finger_l.pos",
"shoulder_r.pos",
"forearm_r.pos",
"arm_r.pos",
"wrist_r.pos",
"hand_r.pos",
"finger_r.pos"
],
"shape": [
15
]
},
"observation.images.head_camera": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"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.environment_state": {
"dtype": "float32",
"names": [
"requested_drawer_1",
"requested_drawer_2",
"requested_drawer_3",
"requested_drawer_4",
"requested_drawer_5",
"requested_drawer_6",
"requested_drawer_7",
"requested_drawer_8",
"requested_drawer_9",
"current_task_phase_1",
"current_task_phase_2",
"current_task_phase_3",
"current_task_phase_4",
"current_task_phase_5"
],
"shape": [
14
]
},
"next_task_phase": {
"dtype": "int64",
"names": [
"next_task_phase_index"
],
"shape": [
1
]
},
"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": 5,
"total_frames": 10984,
"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": "hepha_mujoco",
"splits": {
"train": "0:5"
}
}
Citation
BibTeX:
[More Information Needed]