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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 52,
"total_frames": 34041,
"total_tasks": 1,
"total_videos": 156,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:52"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
25
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7",
"joint_8",
"joint_9",
"joint_10",
"joint_11",
"joint_12",
"joint_13",
"joint_14",
"joint_15",
"rot_1",
"rot_2",
"rot_3",
"rot_4",
"rot_5",
"rot_6",
"trans_x",
"trans_y",
"trans_z"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
25
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7",
"joint_8",
"joint_9",
"joint_10",
"joint_11",
"joint_12",
"joint_13",
"joint_14",
"joint_15",
"rot_1",
"rot_2",
"rot_3",
"rot_4",
"rot_5",
"rot_6",
"trans_x",
"trans_y",
"trans_z"
]
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.images.main": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 20,
"video.codec": "mp4v",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.secondary_1": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 20,
"video.codec": "mp4v",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"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
}
}
}
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