Datasets:
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action list | observation.state list | timestamp float32 0 34.6 | frame_index int64 0 1.04k | episode_index int64 0 54 | index int64 0 35.4k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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17.... | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
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"elbow_flex.pos",
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"wrist_roll.pos",
"gripper.pos"
],
"shape": [
7
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},
"observation.state": {
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"gripper.pos",
"shoulder_pan.torq",
"shoulder_lift.torq",
"elbow_flex.torq",
"wrist_flex.torq",
"wrist_yaw.torq",
"wrist_roll.torq",
"gripper.torq",
"shoulder_pan.vel",
"shoulder_lift.vel",
"elbow_flex.vel",
"wrist_flex.vel",
"wrist_yaw.vel",
"wrist_roll.vel",
"gripper.vel"
],
"shape": [
21
]
},
"observation.images.zed_left": {
"dtype": "video",
"shape": [
376,
672,
3
],
"names": [
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"info": {
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},
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376,
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},
"observation.images.wrist_cam": {
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3
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},
"total_episodes": 55,
"total_frames": 35439,
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"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": "rebot_b601_follower",
"splits": {
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},
"robot_config": {
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"id": "b601_follower",
"port": "/dev/ttyACM0",
"can_adapter": "damiao",
"dm_serial_baud": 921600,
"disable_torque_on_disconnect": true,
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"home_duration_s": 1.25,
"home_joint_durations_s": "{'elbow_flex': 2.0}",
"gripper_close_duration_s": 1.0,
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"max_relative_target": null,
"cameras": {
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},
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},
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"index_or_path": "/dev/video2",
"color_mode": "rgb",
"rotation": 0,
"warmup_s": 3,
"fourcc": "MJPG",
"backend": 200
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},
"motor_can_ids": {
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1,
17
],
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2,
18
],
"elbow_flex": [
3,
19
],
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4,
20
],
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5,
21
],
"wrist_roll": [
6,
22
],
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23
]
},
"pos_vel_velocity": [
150.0,
150.0,
150.0,
150.0,
150.0,
150.0,
900.0
],
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45.0,
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45.0,
8.0,
9.0,
8.0,
8.0
],
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12.0,
12.0,
1.0,
1.0,
1.0,
1.0
],
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"gravity_gain": 1.0,
"gravity_scale": {},
"gravity_payload_kg": 0.0,
"gravity_payload_com": [
0.0,
0.0,
0.0
],
"gravity_max_torque": 20.0,
"temp_warn_c": 57.0,
"temp_danger_c": 61.0,
"temp_max_c": 65.0,
"temp_warn_repeat_s": 3.0,
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"temp_history_s": 60.0,
"temp_sample_hz": 10.0,
"temp_shutdown_enabled": true,
"temp_debug": false,
"gripper_control_mode": "force_pos",
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"gripper_mit_kp": 8.0,
"gripper_mit_kd": 0.3,
"send_rate_hz": 100.0,
"profile_log_path": null,
"enable_trajectory_smoothing": true,
"smoothing_time_constant_s": 0.02,
"joint_limits": {
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150.0
],
"shoulder_lift": [
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1.0
],
"elbow_flex": [
-200.0,
1.0
],
"wrist_flex": [
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90.0
],
"wrist_yaw": [
-90.0,
90.0
],
"wrist_roll": [
-90.0,
90.0
],
"gripper": [
-270.0,
0.0
]
},
"calibration_dir": null
},
"teleop": {
"type": "rebot_102_leader",
"id": "b601_leader",
"port": "/dev/ttyUSB0",
"baudrate": 1000000,
"joint_ids": {
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"shoulder_lift": 1,
"elbow_flex": 2,
"wrist_flex": 3,
"wrist_yaw": 4,
"wrist_roll": 5,
"gripper": 6
},
"joint_directions": {
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"shoulder_lift": -1,
"elbow_flex": 1,
"wrist_flex": 1,
"wrist_yaw": 1,
"wrist_roll": -1,
"gripper": -6
},
"joint_ranges": {
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-150,
150
],
"shoulder_lift": [
-200,
1
],
"elbow_flex": [
-200,
1
],
"wrist_flex": [
-80,
90
],
"wrist_yaw": [
-90,
90
],
"wrist_roll": [
-90,
90
],
"gripper": [
-270,
0
]
},
"calibration_dir": null
}
}
}
Citation
BibTeX:
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