eunjuri/baseball_raw_tactile

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "Unitree_G1_Inspire",
    "total_episodes": 85,
    "total_frames": 20075,
    "total_tasks": 1,
    "total_videos": 170,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:85"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                26
            ],
            "names": [
                [
                    "kLeftShoulderPitch",
                    "kLeftShoulderRoll",
                    "kLeftShoulderYaw",
                    "kLeftElbow",
                    "kLeftWristRoll",
                    "kLeftWristPitch",
                    "kLeftWristYaw",
                    "kLeftHandPinky",
                    "kLeftHandRing",
                    "kLeftHandMiddle",
                    "kLeftHandIndex",
                    "kLeftHandThumbBend",
                    "kLeftHandThumbRotation",
                    "kRightShoulderPitch",
                    "kRightShoulderRoll",
                    "kRightShoulderYaw",
                    "kRightElbow",
                    "kRightWristRoll",
                    "kRightWristPitch",
                    "kRightWristYaw",
                    "kRightHandPinky",
                    "kRightHandRing",
                    "kRightHandMiddle",
                    "kRightHandIndex",
                    "kRightHandThumbBend",
                    "kRightHandThumbRotation"
                ]
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                26
            ],
            "names": [
                [
                    "kLeftShoulderPitch",
                    "kLeftShoulderRoll",
                    "kLeftShoulderYaw",
                    "kLeftElbow",
                    "kLeftWristRoll",
                    "kLeftWristPitch",
                    "kLeftWristYaw",
                    "kLeftHandPinky",
                    "kLeftHandRing",
                    "kLeftHandMiddle",
                    "kLeftHandIndex",
                    "kLeftHandThumbBend",
                    "kLeftHandThumbRotation",
                    "kRightShoulderPitch",
                    "kRightShoulderRoll",
                    "kRightShoulderYaw",
                    "kRightElbow",
                    "kRightWristRoll",
                    "kRightWristPitch",
                    "kRightWristYaw",
                    "kRightHandPinky",
                    "kRightHandRing",
                    "kRightHandMiddle",
                    "kRightHandIndex",
                    "kRightHandThumbBend",
                    "kRightHandThumbRotation"
                ]
            ]
        },
        "observation.language.tokens": {
            "dtype": "int32",
            "shape": [
                48
            ],
            "names": [
                "seq"
            ]
        },
        "observation.language.attention_mask": {
            "dtype": "int8",
            "shape": [
                48
            ],
            "names": [
                "seq"
            ]
        },
        "observation.images.cam_left_high": {
            "dtype": "video",
            "shape": [
                3,
                480,
                848
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 848,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.cam_third": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.tactiles.state": {
            "dtype": "float32",
            "shape": [
                42
            ],
            "names": [
                [
                    "left_tactile_little_finger_tip",
                    "left_tactile_little_finger_nail",
                    "left_tactile_little_finger_pad",
                    "left_tactile_ring_finger_tip",
                    "left_tactile_ring_finger_nail",
                    "left_tactile_ring_finger_pad",
                    "left_tactile_middle_finger_tip",
                    "left_tactile_middle_finger_nail",
                    "left_tactile_middle_finger_pad",
                    "left_tactile_index_finger_tip",
                    "left_tactile_index_finger_nail",
                    "left_tactile_index_finger_pad",
                    "left_tactile_thumb_tip",
                    "left_tactile_thumb_nail",
                    "left_tactile_thumb_middle",
                    "left_tactile_thumb_pad",
                    "left_tactile_little_knuckle",
                    "left_tactile_ring_knuckle",
                    "left_tactile_middle_knuckle",
                    "left_tactile_index_knuckle",
                    "left_tactile_palm",
                    "right_tactile_little_finger_tip",
                    "right_tactile_little_finger_nail",
                    "right_tactile_little_finger_pad",
                    "right_tactile_ring_finger_tip",
                    "right_tactile_ring_finger_nail",
                    "right_tactile_ring_finger_pad",
                    "right_tactile_middle_finger_tip",
                    "right_tactile_middle_finger_nail",
                    "right_tactile_middle_finger_pad",
                    "right_tactile_index_finger_tip",
                    "right_tactile_index_finger_nail",
                    "right_tactile_index_finger_pad",
                    "right_tactile_thumb_tip",
                    "right_tactile_thumb_nail",
                    "right_tactile_thumb_middle",
                    "right_tactile_thumb_pad",
                    "right_tactile_little_knuckle",
                    "right_tactile_ring_knuckle",
                    "right_tactile_middle_knuckle",
                    "right_tactile_index_knuckle",
                    "right_tactile_palm"
                ]
            ]
        },
        "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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