somusan/mujoco_omy_ep40_lerobot_v3_try1

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "omy",
    "total_episodes": 40,
    "total_frames": 15733,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:40"
    },
    "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.images.front": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "motor_0",
                "motor_1",
                "motor_2",
                "motor_3",
                "motor_4",
                "motor_5",
                "motor_6",
                "motor_7",
                "motor_8"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "motor_0",
                "motor_1",
                "motor_2",
                "motor_3",
                "motor_4",
                "motor_5",
                "motor_6",
                "motor_7"
            ]
        },
        "observation.eef_pose": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "eef_pose"
            ]
        },
        "env.obj_pose": {
            "dtype": "float32",
            "shape": [
                10,
                6
            ],
            "names": [
                "obj_pose"
            ]
        },
        "env.obj_names": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": [
                "obj_names"
            ]
        },
        "env.obj_q_names": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": [
                "obj_q_names"
            ]
        },
        "env.obj_q_states": {
            "dtype": "float32",
            "shape": [
                10
            ],
            "names": [
                "obj_q_states"
            ]
        },
        "env.config_file_name": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": [
                "file_name"
            ]
        },
        "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
        }
    }
}

Citation

BibTeX:

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