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Datasets:
michios
/
droid_xxjd_5_canonical

Tasks:
Robotics
Modalities:
Tabular
Text
Time-series
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
droid
canonical
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ - droid
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+ - canonical
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
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+ ---
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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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+ - **Homepage:** [More Information Needed]
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+ - **Paper:** [More Information Needed]
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+ - **License:** apache-2.0
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+
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+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
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+ ```json
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+ {
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+ "codebase_version": "v3.0",
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+ "robot_type": "Franka",
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+ "total_episodes": 105,
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+ "total_frames": 31339,
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+ "total_tasks": 2,
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+ "chunks_size": 1000,
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+ "data_files_size_in_mb": 100,
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+ "video_files_size_in_mb": 500,
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+ "fps": 15,
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+ "splits": {
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+ "train": "0:105"
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+ },
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+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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+ "features": {
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+ "is_first": {
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+ "dtype": "bool",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "is_last": {
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+ "dtype": "bool",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "is_terminal": {
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+ "dtype": "bool",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "language_instruction": {
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+ "dtype": "string",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "language_instruction_2": {
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+ "dtype": "string",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "language_instruction_3": {
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+ "dtype": "string",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "observation.state.gripper_position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": {
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+ "axes": [
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+ "gripper"
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+ ]
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+ }
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+ },
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+ "observation.state.cartesian_position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": {
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+ "axes": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw"
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+ ]
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+ }
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+ },
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+ "observation.state.joint_position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "names": {
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+ "axes": [
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+ "joint_0",
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+ "joint_1",
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+ "joint_2",
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+ "joint_3",
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+ "joint_4",
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+ "joint_5",
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+ "joint_6"
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+ ]
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+ }
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+ },
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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 8
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+ ],
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+ "names": {
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+ "axes": [
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+ "joint_0",
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+ "joint_1",
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+ "joint_2",
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+ "joint_3",
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+ "joint_4",
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+ "joint_5",
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+ "joint_6",
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+ "gripper"
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+ ]
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+ }
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+ },
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+ "observation.images.wrist_left": {
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+ "dtype": "video",
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+ "shape": [
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+ 180,
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+ 320,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "video.height": 180,
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+ "video.width": 320,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 15,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.exterior_1_left": {
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+ "dtype": "video",
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+ "shape": [
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+ 180,
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+ 320,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "video.height": 180,
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+ "video.width": 320,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 15,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.exterior_2_left": {
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+ "dtype": "video",
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+ "shape": [
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+ 180,
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+ 320,
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+ 3
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+ ],
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+ "names": [
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+ "height",
203
+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "video.height": 180,
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+ "video.width": 320,
209
+ "video.codec": "av1",
210
+ "video.pix_fmt": "yuv420p",
211
+ "video.is_depth_map": false,
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+ "video.fps": 15,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "action.gripper_position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": {
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+ "axes": [
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+ "gripper"
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+ ]
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+ }
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+ },
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+ "action.gripper_velocity": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": {
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+ "axes": [
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+ "gripper"
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+ ]
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+ }
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+ },
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+ "action.cartesian_position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": {
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+ "axes": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw"
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+ ]
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+ }
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+ },
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+ "action.cartesian_velocity": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": {
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+ "axes": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw"
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+ ]
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+ }
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+ },
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+ "action.joint_position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "names": {
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+ "axes": [
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+ "joint_0",
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+ "joint_1",
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+ "joint_2",
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+ "joint_3",
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+ "joint_4",
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+ "joint_5",
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+ "joint_6"
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+ ]
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+ }
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+ },
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+ "action.joint_velocity": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "names": {
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+ "axes": [
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+ "joint_0",
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+ "joint_1",
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+ "joint_2",
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+ "joint_3",
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+ "joint_4",
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+ "joint_5",
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+ "joint_6"
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+ ]
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+ }
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+ },
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+ "action.original": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "names": {
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+ "axes": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw",
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+ "gripper"
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+ ]
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+ }
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+ },
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+ "action.source_joint_velocity_gripper": {
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+ "dtype": "float32",
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+ "shape": [
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+ 8
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+ ],
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+ "names": {
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+ "axes": [
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+ "joint_0",
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+ "joint_1",
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+ "joint_2",
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+ "joint_3",
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+ "joint_4",
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+ "joint_5",
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+ "joint_6",
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+ "gripper"
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+ ]
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+ }
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+ },
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 8
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+ ],
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+ "names": {
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+ "axes": [
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+ "joint_1",
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+ "joint_2",
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+ "joint_3",
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+ "joint_4",
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+ "joint_5",
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+ "joint_6",
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+ "gripper"
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+ ]
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+ }
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+ },
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+ "discount": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "reward": {
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+ "dtype": "float32",
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+ "shape": [
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+ ],
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+ "names": null
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+ },
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+ "task_category": {
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "building": {
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+ "dtype": "string",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "collector_id": {
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+ "dtype": "string",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "datetime": {
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+ "dtype": "string",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "camera_extrinsics.wrist_left": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": {
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+ "axes": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw"
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+ ]
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+ }
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+ },
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+ "camera_extrinsics.exterior_1_left": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": {
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+ "axes": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw"
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+ ]
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+ }
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+ },
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+ "camera_extrinsics.exterior_2_left": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": {
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+ "axes": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw"
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+ ]
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+ }
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+ },
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+ "is_episode_successful": {
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+ "dtype": "bool",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "environment.conveyor_speed": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "subtask_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "frame_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "episode_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "task_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ }
504
+ }
505
+ }
506
+ ```
507
+
508
+
509
+ ## Citation
510
+
511
+ **BibTeX:**
512
+
513
+ ```bibtex
514
+ [More Information Needed]
515
+ ```