nberezny/lite6_pick_place_nudge_dense

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
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    "fps": 20,
    "features": {
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        "observation.images.wrist": {
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        },
        "observation.state": {
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            "names": [
                "joint1",
                "joint2",
                "joint3",
                "joint4",
                "joint5",
                "joint6",
                "gripper_width",
                "tcp_x",
                "tcp_y",
                "tcp_z",
                "tcp_r11",
                "tcp_r21",
                "tcp_r31",
                "tcp_r12",
                "tcp_r22",
                "tcp_r32",
                "seg_x",
                "seg_y",
                "seg_z",
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                "seg_r12",
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                "rel_y",
                "rel_z",
                "rel_r11",
                "rel_r21",
                "rel_r31",
                "rel_r12",
                "rel_r22",
                "rel_r32",
                "gripper_cmd"
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        "timestamp": {
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            "names": null
        },
        "frame_index": {
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        },
        "episode_index": {
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        },
        "task_index": {
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            "names": null
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    },
    "total_episodes": 1852,
    "total_frames": 54814,
    "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": null,
    "robot_type": "ufactory_lite6_sim_hybrid_dense_rel",
    "splits": {
        "train": "0:1852"
    }
}

Citation

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