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Dataset Authors

This dataset is contributed by [RobotCoin]

This dataset is annotated by [RobotCoin]

Dataset Description

This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.

Dataset Tags

  • RobotCoin

  • LeRobot

Task Descriptions

tasks

stack basket

sub_tasks

Pick up the light basket with the right gripper Place the dark basket in the center of view with the left gripper Place the dark basket on the light basket with the right gripper Pick up the light basket with the left gripper Pick up the dark basket with the right gripper Place the light basket in the center of view with the left gripper Pick up the dark basket with the left gripper Place the light basket on the dark basket with the right gripper

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "realman",
    "total_episodes": 499,
    "total_frames": 290587,
    "total_tasks": 1,
    "total_videos": 1497,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "splits": {
        "train": "0:499"
    },
    "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.cam_high": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 25.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.cam_left_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 25.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.cam_right_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 25.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "states": {
            "dtype": "float32",
            "shape": [
                30
            ],
            "name": [
                "right_arm_joint_1",
                "right_arm_joint_2",
                "right_arm_joint_3",
                "right_arm_joint_4",
                "right_arm_joint_5",
                "right_arm_joint_6",
                "right_arm_joint_7",
                "right_gripper_joint",
                "right_end_effector_positions_x",
                "right_end_effector_positions_y",
                "right_end_effector_positions_z",
                "right_end_effector_quat_x",
                "right_end_effector_quat_y",
                "right_end_effector_quat_z",
                "right_end_effector_quat_w",
                "left_arm_joint_1",
                "left_arm_joint_2",
                "left_arm_joint_3",
                "left_arm_joint_4",
                "left_arm_joint_5",
                "left_arm_joint_6",
                "left_arm_joint_7",
                "left_gripper_joint",
                "left_end_effector_positions_x",
                "left_end_effector_positions_y",
                "left_end_effector_positions_z",
                "left_end_effector_quat_x",
                "left_end_effector_quat_y",
                "left_end_effector_quat_z",
                "left_end_effector_quat_w"
            ]
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                30
            ],
            "name": [
                "right_arm_joint_1",
                "right_arm_joint_2",
                "right_arm_joint_3",
                "right_arm_joint_4",
                "right_arm_joint_5",
                "right_arm_joint_6",
                "right_arm_joint_7",
                "right_gripper_joint",
                "right_end_effector_positions_x",
                "right_end_effector_positions_y",
                "right_end_effector_positions_z",
                "right_end_effector_quat_x",
                "right_end_effector_quat_y",
                "right_end_effector_quat_z",
                "right_end_effector_quat_w",
                "left_arm_joint_1",
                "left_arm_joint_2",
                "left_arm_joint_3",
                "left_arm_joint_4",
                "left_arm_joint_5",
                "left_arm_joint_6",
                "left_arm_joint_7",
                "left_gripper_joint",
                "left_end_effector_positions_x",
                "left_end_effector_positions_y",
                "left_end_effector_positions_z",
                "left_end_effector_quat_x",
                "left_end_effector_quat_y",
                "left_end_effector_quat_z",
                "left_end_effector_quat_w"
            ]
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "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
        }
    }
}

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