XR-Bot3/parts_sorting

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "left_tcp.x",
                "left_tcp.y",
                "left_tcp.z",
                "left_tcp.r1",
                "left_tcp.r2",
                "left_tcp.r3",
                "left_tcp.r4",
                "left_tcp.r5",
                "left_tcp.r6",
                "left_gripper.pos",
                "right_tcp.x",
                "right_tcp.y",
                "right_tcp.z",
                "right_tcp.r1",
                "right_tcp.r2",
                "right_tcp.r3",
                "right_tcp.r4",
                "right_tcp.r5",
                "right_tcp.r6",
                "right_gripper.pos"
            ],
            "shape": [
                20
            ]
        },
        "episode_index": {
            "dtype": "int64",
            "names": null,
            "shape": [
                1
            ]
        },
        "frame_index": {
            "dtype": "int64",
            "names": null,
            "shape": [
                1
            ]
        },
        "index": {
            "dtype": "int64",
            "names": null,
            "shape": [
                1
            ]
        },
        "observation.images.head_left": {
            "dtype": "video",
            "info": {
                "has_audio": false,
                "video.channels": 3,
                "video.codec": "h264",
                "video.fps": 30,
                "video.height": 768,
                "video.is_depth_map": false,
                "video.pix_fmt": "yuv420p",
                "video.video_backend": "pyav",
                "video.width": 1024
            },
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                768,
                1024,
                3
            ]
        },
        "observation.images.head_right": {
            "dtype": "video",
            "info": {
                "has_audio": false,
                "video.channels": 3,
                "video.codec": "h264",
                "video.fps": 30,
                "video.height": 768,
                "video.is_depth_map": false,
                "video.pix_fmt": "yuv420p",
                "video.video_backend": "pyav",
                "video.width": 1024
            },
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                768,
                1024,
                3
            ]
        },
        "observation.images.left_tactile_left": {
            "dtype": "video",
            "info": {
                "has_audio": false,
                "video.channels": 3,
                "video.codec": "h264",
                "video.fps": 30,
                "video.height": 400,
                "video.is_depth_map": false,
                "video.pix_fmt": "yuv420p",
                "video.video_backend": "pyav",
                "video.width": 700
            },
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                400,
                700,
                3
            ]
        },
        "observation.images.left_tactile_right": {
            "dtype": "video",
            "info": {
                "has_audio": false,
                "video.channels": 3,
                "video.codec": "h264",
                "video.fps": 30,
                "video.height": 400,
                "video.is_depth_map": false,
                "video.pix_fmt": "yuv420p",
                "video.video_backend": "pyav",
                "video.width": 700
            },
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                400,
                700,
                3
            ]
        },
        "observation.images.left_wrist": {
            "dtype": "video",
            "info": {
                "has_audio": false,
                "video.channels": 3,
                "video.codec": "h264",
                "video.fps": 30,
                "video.height": 480,
                "video.is_depth_map": false,
                "video.pix_fmt": "yuv420p",
                "video.video_backend": "pyav",
                "video.width": 640
            },
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                480,
                640,
                3
            ]
        },
        "observation.images.right_tactile_left": {
            "dtype": "video",
            "info": {
                "has_audio": false,
                "video.channels": 3,
                "video.codec": "h264",
                "video.fps": 30,
                "video.height": 400,
                "video.is_depth_map": false,
                "video.pix_fmt": "yuv420p",
                "video.video_backend": "pyav",
                "video.width": 700
            },
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                400,
                700,
                3
            ]
        },
        "observation.images.right_tactile_right": {
            "dtype": "video",
            "info": {
                "has_audio": false,
                "video.channels": 3,
                "video.codec": "h264",
                "video.fps": 30,
                "video.height": 400,
                "video.is_depth_map": false,
                "video.pix_fmt": "yuv420p",
                "video.video_backend": "pyav",
                "video.width": 700
            },
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                400,
                700,
                3
            ]
        },
        "observation.images.right_wrist": {
            "dtype": "video",
            "info": {
                "has_audio": false,
                "video.channels": 3,
                "video.codec": "h264",
                "video.fps": 30,
                "video.height": 480,
                "video.is_depth_map": false,
                "video.pix_fmt": "yuv420p",
                "video.video_backend": "pyav",
                "video.width": 640
            },
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                480,
                640,
                3
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_tcp.x",
                "left_tcp.y",
                "left_tcp.z",
                "left_tcp.r1",
                "left_tcp.r2",
                "left_tcp.r3",
                "left_tcp.r4",
                "left_tcp.r5",
                "left_tcp.r6",
                "left_gripper.pos",
                "right_tcp.x",
                "right_tcp.y",
                "right_tcp.z",
                "right_tcp.r1",
                "right_tcp.r2",
                "right_tcp.r3",
                "right_tcp.r4",
                "right_tcp.r5",
                "right_tcp.r6",
                "right_gripper.pos"
            ],
            "shape": [
                20
            ]
        },
        "task_index": {
            "dtype": "int64",
            "names": null,
            "shape": [
                1
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "names": null,
            "shape": [
                1
            ]
        }
    },
    "total_episodes": 5,
    "total_frames": 18417,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "bi_taccap_gripper",
    "splits": {
        "train": "0:5"
    }
}

Citation

BibTeX:

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