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Datasets:
pepijn223
/
task_384

Tasks:
Robotics
Modalities:
Tabular
Video
Formats:
parquet
Size:
1M - 10M
Tags:
LeRobot
agibot-world
a2d
gripper
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
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+ ---
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+ license: cc-by-4.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ - LeRobot
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+ - agibot-world
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+ - a2d
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+ - gripper
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
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+ ---
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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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+ - **Homepage:** [More Information Needed]
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+ - **Paper:** [More Information Needed]
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+ - **License:** cc-by-4.0
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+
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+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
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+ ```json
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+ {
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+ "codebase_version": "v3.0",
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+ "robot_type": "a2d",
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+ "total_episodes": 808,
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+ "total_frames": 1133387,
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+ "total_tasks": 1,
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+ "chunks_size": 1000,
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+ "data_files_size_in_mb": 100,
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+ "video_files_size_in_mb": 500,
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+ "fps": 30,
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+ "splits": {
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+ "train": "0:808"
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+ },
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+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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+ "features": {
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+ "observation.images.head": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "rgb"
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+ ],
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+ "info": {
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.head_center_fisheye": {
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+ "dtype": "video",
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+ "shape": [
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+ 768,
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+ 960,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "rgb"
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+ ],
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+ "info": {
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+ "video.height": 768,
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+ "video.width": 960,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.head_left_fisheye": {
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+ "dtype": "video",
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+ "shape": [
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+ 768,
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+ 960,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "rgb"
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+ ],
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+ "info": {
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+ "video.height": 768,
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+ "video.width": 960,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.head_right_fisheye": {
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+ "dtype": "video",
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+ "shape": [
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+ 768,
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+ 960,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "rgb"
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+ ],
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+ "info": {
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+ "video.height": 768,
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+ "video.width": 960,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.hand_left": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "rgb"
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+ ],
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+ "info": {
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.hand_right": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "rgb"
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+ ],
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+ "info": {
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.back_left_fisheye": {
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+ "dtype": "video",
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+ "shape": [
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+ 768,
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+ 960,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "rgb"
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+ ],
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+ "info": {
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+ "video.height": 768,
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+ "video.width": 960,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.back_right_fisheye": {
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+ "dtype": "video",
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+ "shape": [
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+ 768,
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+ 960,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "rgb"
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+ ],
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+ "info": {
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+ "video.height": 768,
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+ "video.width": 960,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.states.effector.position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2
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+ ],
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+ "names": {
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+ "motors": [
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+ "left_gripper",
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+ "right_gripper"
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+ ]
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+ }
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+ },
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+ "observation.states.end.orientation": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2,
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+ 4
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+ ],
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+ "names": {
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+ "motors": [
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+ "left_xyzw",
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+ "right_xyzw"
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+ ]
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+ }
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+ },
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+ "observation.states.end.position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2,
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+ 3
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+ ],
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+ "names": {
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+ "motors": [
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+ "left_xyz",
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+ ]
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+ }
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+ },
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+ "observation.states.head.position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2
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+ ],
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+ "names": {
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+ "motors": [
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+ "yaw",
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+ "patch"
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+ ]
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+ }
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+ },
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+ "observation.states.joint.current_value": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": {
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+ "motors": [
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+ "left_arm_0",
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+ "left_arm_1",
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+ "left_arm_2",
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+ "left_arm_3",
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+ "left_arm_4",
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+ "left_arm_5",
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+ "left_arm_6",
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+ "right_arm_0",
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+ "right_arm_1",
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+ "right_arm_2",
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+ "right_arm_3",
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+ "right_arm_4",
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+ "right_arm_5",
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+ "right_arm_6"
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+ ]
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+ }
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+ },
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+ "observation.states.joint.position": {
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+ "dtype": "float32",
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+ "shape": [
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+ ],
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+ "names": {
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+ "motors": [
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+ "left_arm_1",
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+ "left_arm_3",
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+ "left_arm_4",
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+ "left_arm_5",
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+ "left_arm_6",
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+ "right_arm_0",
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+ "right_arm_1",
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+ "right_arm_2",
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+ "right_arm_3",
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+ "right_arm_4",
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+ "right_arm_5",
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+ "right_arm_6"
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+ ]
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+ }
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+ },
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+ "observation.states.robot.orientation": {
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+ "dtype": "float32",
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+ "shape": [
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+ 4
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+ ],
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+ "names": {
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+ "motors": [
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+ "x",
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+ "y",
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+ "z",
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+ "w"
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+ ]
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+ }
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+ },
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+ "shape": [
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+ ],
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+ "names": {
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+ "motors": [
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+ "x",
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+ "y",
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+ "z"
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+ ]
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+ }
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+ },
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+ "shape": [
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+ ],
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+ "names": {
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+ "motors": [
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+ "lift"
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+ ]
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+ }
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+ },
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+ "dtype": "float32",
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+ "shape": [
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+ 2
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+ ],
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+ "names": {
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+ "motors": [
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+ "left_gripper",
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+ "right_gripper"
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+ ]
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+ }
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+ },
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+ "actions.end.orientation": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2,
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+ 4
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+ ],
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+ "names": {
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+ "motors": [
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+ "left_xyzw",
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+ "right_xyzw"
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+ ]
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+ }
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+ },
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+ "actions.end.position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2,
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+ 3
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+ ],
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+ "names": {
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+ "motors": [
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+ "left_xyz",
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+ "right_xyz"
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+ ]
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+ }
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+ },
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+ "actions.head.position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2
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+ ],
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+ "names": {
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+ "motors": [
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+ "yaw",
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+ "patch"
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+ ]
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+ }
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+ },
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+ "actions.joint.position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": {
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+ "motors": [
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+ "left_arm_0",
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+ "left_arm_1",
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+ "left_arm_2",
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+ "left_arm_3",
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+ "left_arm_4",
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+ "left_arm_5",
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+ "left_arm_6",
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+ "right_arm_0",
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+ "right_arm_1",
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+ "right_arm_2",
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+ "right_arm_3",
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+ "right_arm_4",
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+ "right_arm_5",
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+ "right_arm_6"
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+ ]
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+ }
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+ },
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+ "actions.robot.velocity": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2
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+ ],
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+ "names": {
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+ "motors": [
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+ "x_vel",
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+ "yaw_vel"
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+ ]
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+ }
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+ },
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+ "actions.waist.position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2
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+ ],
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+ "names": {
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+ "motors": [
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+ "pitch",
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+ "lift"
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+ ]
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+ }
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "frame_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "episode_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "index": {
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+ "dtype": "int64",
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+ "shape": [
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+ ],
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+ "names": null
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+ },
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+ "task_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ }
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+ }
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+ }
502
+ ```
503
+
504
+
505
+ ## Citation
506
+
507
+ **BibTeX:**
508
+
509
+ ```bibtex
510
+ [More Information Needed]
511
+ ```