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Datasets:
xhaka3456
/
openarm_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
Community
1
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observation.state
list
observation.velocity
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observation.effort
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action.left_twist
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action.right_twist
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action.left_gripper
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action.right_gripper
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frame_index
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episode_index
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index
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task_index
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "openarm_bimanual",
    "total_episodes": 6,
    "total_frames": 900,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:6"
    },
    "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": {
        "observation.state": {
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            "shape": [
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            "names": [
                "left_joint1.pos",
                "left_joint2.pos",
                "left_joint3.pos",
                "left_joint4.pos",
                "left_joint5.pos",
                "left_joint6.pos",
                "left_joint7.pos",
                "right_joint1.pos",
                "right_joint2.pos",
                "right_joint3.pos",
                "right_joint4.pos",
                "right_joint5.pos",
                "right_joint6.pos",
                "right_joint7.pos",
                "left_gripper.pos",
                "right_gripper.pos"
            ]
        },
        "observation.velocity": {
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            "names": [
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                "left_joint2.vel",
                "left_joint3.vel",
                "left_joint4.vel",
                "left_joint5.vel",
                "left_joint6.vel",
                "left_joint7.vel",
                "right_joint1.vel",
                "right_joint2.vel",
                "right_joint3.vel",
                "right_joint4.vel",
                "right_joint5.vel",
                "right_joint6.vel",
                "right_joint7.vel",
                "left_gripper.vel",
                "right_gripper.vel"
            ]
        },
        "observation.effort": {
            "dtype": "float32",
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            "names": [
                "left_joint1.tau",
                "left_joint2.tau",
                "left_joint3.tau",
                "left_joint4.tau",
                "left_joint5.tau",
                "left_joint6.tau",
                "left_joint7.tau",
                "right_joint1.tau",
                "right_joint2.tau",
                "right_joint3.tau",
                "right_joint4.tau",
                "right_joint5.tau",
                "right_joint6.tau",
                "right_joint7.tau",
                "left_gripper.tau",
                "right_gripper.tau"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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        "action.left_twist": {
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        "action.right_twist": {
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            "names": [
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        "action.left_gripper": {
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        "action.right_gripper": {
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        "frame_index": {
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        "episode_index": {
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}

Citation

BibTeX:

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