metadata
license: cc-by-4.0
task_categories:
- robotics
tags:
- LeRobot
- LeRobot
- agibot-world
- a2d
- gripper
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: cc-by-4.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "a2d",
"total_episodes": 644,
"total_frames": 829453,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:644"
},
"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",
"features": {
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"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.head_center_fisheye": {
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"shape": [
768,
960,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 768,
"video.width": 960,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
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}
},
"observation.images.head_left_fisheye": {
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],
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"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.head_right_fisheye": {
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"shape": [
768,
960,
3
],
"names": [
"height",
"width",
"rgb"
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"video.height": 768,
"video.width": 960,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.hand_left": {
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"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
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}
},
"observation.images.hand_right": {
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],
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"video.is_depth_map": false,
"video.fps": 30,
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"has_audio": false
}
},
"observation.images.back_left_fisheye": {
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"shape": [
768,
960,
3
],
"names": [
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"width",
"rgb"
],
"info": {
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"video.width": 960,
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"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
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"video.channels": 3,
"has_audio": false
}
},
"observation.images.back_right_fisheye": {
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"shape": [
768,
960,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 768,
"video.width": 960,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.states.effector.position": {
"dtype": "float32",
"shape": [
2
],
"names": {
"motors": [
"left_gripper",
"right_gripper"
]
}
},
"observation.states.end.orientation": {
"dtype": "float32",
"shape": [
2,
4
],
"names": {
"motors": [
"left_xyzw",
"right_xyzw"
]
}
},
"observation.states.end.position": {
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"shape": [
2,
3
],
"names": {
"motors": [
"left_xyz",
"right_xyz"
]
}
},
"observation.states.head.position": {
"dtype": "float32",
"shape": [
2
],
"names": {
"motors": [
"yaw",
"patch"
]
}
},
"observation.states.joint.current_value": {
"dtype": "float32",
"shape": [
14
],
"names": {
"motors": [
"left_arm_0",
"left_arm_1",
"left_arm_2",
"left_arm_3",
"left_arm_4",
"left_arm_5",
"left_arm_6",
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6"
]
}
},
"observation.states.joint.position": {
"dtype": "float32",
"shape": [
14
],
"names": {
"motors": [
"left_arm_0",
"left_arm_1",
"left_arm_2",
"left_arm_3",
"left_arm_4",
"left_arm_5",
"left_arm_6",
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6"
]
}
},
"observation.states.robot.orientation": {
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"shape": [
4
],
"names": {
"motors": [
"x",
"y",
"z",
"w"
]
}
},
"observation.states.robot.position": {
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"shape": [
3
],
"names": {
"motors": [
"x",
"y",
"z"
]
}
},
"observation.states.waist.position": {
"dtype": "float32",
"shape": [
2
],
"names": {
"motors": [
"pitch",
"lift"
]
}
},
"actions.effector.position": {
"dtype": "float32",
"shape": [
2
],
"names": {
"motors": [
"left_gripper",
"right_gripper"
]
}
},
"actions.end.orientation": {
"dtype": "float32",
"shape": [
2,
4
],
"names": {
"motors": [
"left_xyzw",
"right_xyzw"
]
}
},
"actions.end.position": {
"dtype": "float32",
"shape": [
2,
3
],
"names": {
"motors": [
"left_xyz",
"right_xyz"
]
}
},
"actions.head.position": {
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"shape": [
2
],
"names": {
"motors": [
"yaw",
"patch"
]
}
},
"actions.joint.position": {
"dtype": "float32",
"shape": [
14
],
"names": {
"motors": [
"left_arm_0",
"left_arm_1",
"left_arm_2",
"left_arm_3",
"left_arm_4",
"left_arm_5",
"left_arm_6",
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6"
]
}
},
"actions.robot.velocity": {
"dtype": "float32",
"shape": [
2
],
"names": {
"motors": [
"x_vel",
"yaw_vel"
]
}
},
"actions.waist.position": {
"dtype": "float32",
"shape": [
2
],
"names": {
"motors": [
"pitch",
"lift"
]
}
},
"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": [
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],
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},
"task_index": {
"dtype": "int64",
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"names": null
}
}
}
Citation
BibTeX:
[More Information Needed]