grx
Collection
3 items
•
Updated
Datasets:
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "gr1t1",
"total_episodes": 200,
"total_frames": 93715,
"total_tasks": 197,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:200"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"observation.images.top": {
"dtype": "video",
"copy": true,
"shape": [
3,
800,
1280
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 800,
"video.width": 1280,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.pointcloud": {
"dtype": "float32",
"shape": [
12288
]
},
"observation.state": {
"dtype": "float32",
"shape": [
32
],
"names": [
"waist_yaw_joint",
"waist_pitch_joint",
"waist_roll_joint",
"head_yaw_joint",
"head_roll_joint",
"head_pitch_joint",
"left_shoulder_pitch_joint",
"left_shoulder_roll_joint",
"left_shoulder_yaw_joint",
"left_elbow_pitch_joint",
"left_wrist_yaw_joint",
"left_wrist_roll_joint",
"left_wrist_pitch_joint",
"right_shoulder_pitch_joint",
"right_shoulder_roll_joint",
"right_shoulder_yaw_joint",
"right_elbow_pitch_joint",
"right_wrist_yaw_joint",
"right_wrist_roll_joint",
"right_wrist_pitch_joint",
"L_pinky_proximal_joint",
"L_ring_proximal_joint",
"L_middle_proximal_joint",
"L_index_proximal_joint",
"L_thumb_proximal_pitch_joint",
"L_thumb_proximal_yaw_joint",
"R_pinky_proximal_joint",
"R_ring_proximal_joint",
"R_middle_proximal_joint",
"R_index_proximal_joint",
"R_thumb_proximal_pitch_joint",
"R_thumb_proximal_yaw_joint"
]
},
"action": {
"dtype": "float32",
"shape": [
32
],
"names": [
"waist_yaw_joint",
"waist_pitch_joint",
"waist_roll_joint",
"head_yaw_joint",
"head_roll_joint",
"head_pitch_joint",
"left_shoulder_pitch_joint",
"left_shoulder_roll_joint",
"left_shoulder_yaw_joint",
"left_elbow_pitch_joint",
"left_wrist_yaw_joint",
"left_wrist_roll_joint",
"left_wrist_pitch_joint",
"right_shoulder_pitch_joint",
"right_shoulder_roll_joint",
"right_shoulder_yaw_joint",
"right_elbow_pitch_joint",
"right_wrist_yaw_joint",
"right_wrist_roll_joint",
"right_wrist_pitch_joint",
"L_pinky_proximal_joint",
"L_ring_proximal_joint",
"L_middle_proximal_joint",
"L_index_proximal_joint",
"L_thumb_proximal_pitch_joint",
"L_thumb_proximal_yaw_joint",
"R_pinky_proximal_joint",
"R_ring_proximal_joint",
"R_middle_proximal_joint",
"R_index_proximal_joint",
"R_thumb_proximal_pitch_joint",
"R_thumb_proximal_yaw_joint"
]
},
"observation.state.pose": {
"dtype": "float32",
"shape": [
36
],
"names": [
"left_hand_x",
"left_hand_y",
"left_hand_z",
"left_hand_ortho6d_1",
"left_hand_ortho6d_2",
"left_hand_ortho6d_3",
"left_hand_ortho6d_4",
"left_hand_ortho6d_5",
"left_hand_ortho6d_6",
"right_hand_x",
"right_hand_y",
"right_hand_z",
"right_hand_ortho6d_1",
"right_hand_ortho6d_2",
"right_hand_ortho6d_3",
"right_hand_ortho6d_4",
"right_hand_ortho6d_5",
"right_hand_ortho6d_6",
"head_ortho6d_1",
"head_ortho6d_2",
"head_ortho6d_3",
"head_ortho6d_4",
"head_ortho6d_5",
"head_ortho6d_6",
"L_pinky_proximal_joint",
"L_ring_proximal_joint",
"L_middle_proximal_joint",
"L_index_proximal_joint",
"L_thumb_proximal_pitch_joint",
"L_thumb_proximal_yaw_joint",
"R_pinky_proximal_joint",
"R_ring_proximal_joint",
"R_middle_proximal_joint",
"R_index_proximal_joint",
"R_thumb_proximal_pitch_joint",
"R_thumb_proximal_yaw_joint"
]
},
"action.pose": {
"dtype": "float32",
"shape": [
36
],
"names": [
"left_hand_x",
"left_hand_y",
"left_hand_z",
"left_hand_ortho6d_1",
"left_hand_ortho6d_2",
"left_hand_ortho6d_3",
"left_hand_ortho6d_4",
"left_hand_ortho6d_5",
"left_hand_ortho6d_6",
"right_hand_x",
"right_hand_y",
"right_hand_z",
"right_hand_ortho6d_1",
"right_hand_ortho6d_2",
"right_hand_ortho6d_3",
"right_hand_ortho6d_4",
"right_hand_ortho6d_5",
"right_hand_ortho6d_6",
"head_ortho6d_1",
"head_ortho6d_2",
"head_ortho6d_3",
"head_ortho6d_4",
"head_ortho6d_5",
"head_ortho6d_6",
"L_pinky_proximal_joint",
"L_ring_proximal_joint",
"L_middle_proximal_joint",
"L_index_proximal_joint",
"L_thumb_proximal_pitch_joint",
"L_thumb_proximal_yaw_joint",
"R_pinky_proximal_joint",
"R_ring_proximal_joint",
"R_middle_proximal_joint",
"R_index_proximal_joint",
"R_thumb_proximal_pitch_joint",
"R_thumb_proximal_yaw_joint"
]
},
"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
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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