ankile/tpa-teleop-sobol-v1

---
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": "panda",
"total_episodes": 40,
"total_frames": 15119,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:40"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
9
],
"names": [
"eef_pos_x",
"eef_pos_y",
"eef_pos_z",
"eef_quat_x",
"eef_quat_y",
"eef_quat_z",
"eef_quat_w",
"gripper_qpos_left",
"gripper_qpos_right"
]
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
42
],
"names": [
"piece1_pos_x",
"piece1_pos_y",
"piece1_pos_z",
"piece1_quat_x",
"piece1_quat_y",
"piece1_quat_z",
"piece1_quat_w",
"piece1_to_eef_pos_x",
"piece1_to_eef_pos_y",
"piece1_to_eef_pos_z",
"piece1_to_eef_quat_x",
"piece1_to_eef_quat_y",
"piece1_to_eef_quat_z",
"piece1_to_eef_quat_w",
"piece2_pos_x",
"piece2_pos_y",
"piece2_pos_z",
"piece2_quat_x",
"piece2_quat_y",
"piece2_quat_z",
"piece2_quat_w",
"piece2_to_eef_pos_x",
"piece2_to_eef_pos_y",
"piece2_to_eef_pos_z",
"piece2_to_eef_quat_x",
"piece2_to_eef_quat_y",
"piece2_to_eef_quat_z",
"piece2_to_eef_quat_w",
"piece3_pos_x",
"piece3_pos_y",
"piece3_pos_z",
"piece3_quat_x",
"piece3_quat_y",
"piece3_quat_z",
"piece3_quat_w",
"piece3_to_eef_pos_x",
"piece3_to_eef_pos_y",
"piece3_to_eef_pos_z",
"piece3_to_eef_quat_x",
"piece3_to_eef_quat_y",
"piece3_to_eef_quat_z",
"piece3_to_eef_quat_w"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"delta_eef_pos_x",
"delta_eef_pos_y",
"delta_eef_pos_z",
"delta_eef_rot_x",
"delta_eef_rot_y",
"delta_eef_rot_z",
"gripper_action"
]
},
"steps_to_go": {
"dtype": "int64",
"shape": [
1
],
"names": [
"steps_to_go"
]
},
"source": {
"dtype": "int64",
"shape": [
1
],
"names": [
"source_id"
]
},
"success": {
"dtype": "int64",
"shape": [
1
],
"names": [
"success_flag"
]
},
"is_valid": {
"dtype": "int64",
"shape": [
1
],
"names": [
"is_valid_flag"
]
},
"reward": {
"dtype": "float32",
"shape": [
1
],
"names": [
"reward"
]
},
"done": {
"dtype": "int64",
"shape": [
1
],
"names": [
"done_flag"
]
},
"initial_sim_qpos": {
"dtype": "float32",
"shape": [
30
],
"names": [
"qpos_0",
"qpos_1",
"qpos_2",
"qpos_3",
"qpos_4",
"qpos_5",
"qpos_6",
"qpos_7",
"qpos_8",
"qpos_9",
"qpos_10",
"qpos_11",
"qpos_12",
"qpos_13",
"qpos_14",
"qpos_15",
"qpos_16",
"qpos_17",
"qpos_18",
"qpos_19",
"qpos_20",
"qpos_21",
"qpos_22",
"qpos_23",
"qpos_24",
"qpos_25",
"qpos_26",
"qpos_27",
"qpos_28",
"qpos_29"
]
},
"initial_sim_qvel": {
"dtype": "float32",
"shape": [
27
],
"names": [
"qvel_0",
"qvel_1",
"qvel_2",
"qvel_3",
"qvel_4",
"qvel_5",
"qvel_6",
"qvel_7",
"qvel_8",
"qvel_9",
"qvel_10",
"qvel_11",
"qvel_12",
"qvel_13",
"qvel_14",
"qvel_15",
"qvel_16",
"qvel_17",
"qvel_18",
"qvel_19",
"qvel_20",
"qvel_21",
"qvel_22",
"qvel_23",
"qvel_24",
"qvel_25",
"qvel_26"
]
},
"observation.images.agentview": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.robot0_eye_in_hand": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"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]
```