steb6/xhand_test

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## Dataset Description

- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"robot_type": "custom_manipulator",
"total_episodes": 50,
"total_frames": 9200,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 10,
"splits": {
"train": "0:50"
},
"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": {
"action": {
"dtype": "float32",
"names": [
"position.x",
"position.y",
"position.z",
"orientation_6d.0",
"orientation_6d.1",
"orientation_6d.2",
"orientation_6d.3",
"orientation_6d.4",
"orientation_6d.5",
"fingertip.thumb.x",
"fingertip.thumb.y",
"fingertip.thumb.z",
"fingertip.index.x",
"fingertip.index.y",
"fingertip.index.z",
"fingertip.middle.x",
"fingertip.middle.y",
"fingertip.middle.z",
"fingertip.ring.x",
"fingertip.ring.y",
"fingertip.ring.z",
"fingertip.little.x",
"fingertip.little.y",
"fingertip.little.z"
],
"shape": [
24
]
},
"observation.state": {
"dtype": "float32",
"names": [
"position.x",
"position.y",
"position.z",
"orientation.x",
"orientation.y",
"orientation.z",
"xhand.joint_0",
"xhand.joint_1",
"xhand.joint_2",
"xhand.joint_3",
"xhand.joint_4",
"xhand.joint_5",
"xhand.joint_6",
"xhand.joint_7",
"xhand.joint_8",
"xhand.joint_9",
"xhand.joint_10",
"xhand.joint_11"
],
"shape": [
18
]
},
"observation.images.wrist_rgb": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_rgb": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"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:**

```bibtex
[More Information Needed]
```