satyam-manav/test_lerobot

---
license: apache-2.0
task_categories:
- robotics
pretty_name: OmniViTac LeRobot v3 (Test Run)
language:
- en
tags:
- LeRobot
- robotics
- multimodal
- video
- tabular
- time-series
configs:
- config_name: default
data_files:
- split: train
path: data/*/*.parquet
---

# OmniViTac LeRobot v3 (Test Run)

This dataset is in LeRobot `v3.0` format and contains 16 OmniViTac episodes.

## Dataset Summary

- Robot type: `OmniViTac`
- Total episodes: `16`
- Total frames: `3278`
- FPS: `15.0`
- Splits: `train: 0:16`
- Data path template: `data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet`
- Video path template: `videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4`

## Dataset Structure

```
meta/
info.json
stats.json
tasks.parquet
episodes/chunk-000/file-000.parquet
data/
chunk-000/file-000.parquet
videos/
observation.images.camera1/chunk-000/file-000.mp4
observation.images.camera2/chunk-000/file-000.mp4
observation.images.tactile1_raw/chunk-000/file-000.mp4
observation.images.tactile2_raw/chunk-000/file-000.mp4
observation.images.tactile1_diff/chunk-000/file-000.mp4
observation.images.tactile2_diff/chunk-000/file-000.mp4
```

### meta/info.json

```json
{
"codebase_version": "v3.0",
"robot_type": "OmniViTac",
"total_episodes": 16,
"total_frames": 3278,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 15.0,
"splits": {
"train": "0:16"
},
"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": {
"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
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": {
"axes": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
}
},
"observation.joints": {
"dtype": "float32",
"shape": [
7
],
"names": {
"axes": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
}
},
"observation.gripper": {
"dtype": "float32",
"shape": [
1
],
"names": {
"axes": [
"gripper_pos"
]
}
},
"observation.joint_stamps": {
"dtype": "int64",
"shape": [
1
],
"names": {
"axes": [
"joint_stamp_ms"
]
}
},
"observation.tactile1_deform": {
"dtype": "float32",
"shape": [
2100
],
"names": null
},
"observation.tactile2_deform": {
"dtype": "float32",
"shape": [
2100
],
"names": null
},
"observation.depth.camera1": {
"dtype": "float16",
"shape": [
480,
640
],
"names": [
"height",
"width"
]
},
"observation.depth.camera2": {
"dtype": "float16",
"shape": [
720,
1280
],
"names": [
"height",
"width"
]
},
"observation.images.camera1": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channel",
"height",
"width"
]
},
"observation.images.camera2": {
"dtype": "video",
"shape": [
3,
720,
1280
],
"names": [
"channel",
"height",
"width"
]
},
"observation.images.tactile1_raw": {
"dtype": "video",
"shape": [
3,
700,
400
],
"names": [
"channel",
"height",
"width"
]
},
"observation.images.tactile2_raw": {
"dtype": "video",
"shape": [
3,
700,
400
],
"names": [
"channel",
"height",
"width"
]
},
"observation.images.tactile1_diff": {
"dtype": "video",
"shape": [
3,
700,
400
],
"names": [
"channel",
"height",
"width"
]
},
"observation.images.tactile2_diff": {
"dtype": "video",
"shape": [
3,
700,
400
],
"names": [
"channel",
"height",
"width"
]
},
"observation.source_timestamp.camera1_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.camera2_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.depth1_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.depth2_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.state_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.joint_stamps_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.gripper_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.tactile1_deform_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.tactile2_deform_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.tactile1_raw_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.tactile2_raw_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.tactile1_diff_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.tactile2_diff_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```

## Features

- Scalars: `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`
- State/action-like vectors:
- `observation.state` (6)
- `observation.joints` (7)
- `observation.gripper` (1)
- `observation.joint_stamps` (1)
- `observation.tactile1_deform` (2100)
- `observation.tactile2_deform` (2100)
- Depth:
- `observation.depth.camera1` (480x640, float16)
- `observation.depth.camera2` (720x1280, float16)
- Videos:
- `observation.images.camera1` (3x480x640)
- `observation.images.camera2` (3x720x1280)
- `observation.images.tactile1_raw` (3x700x400)
- `observation.images.tactile2_raw` (3x700x400)
- `observation.images.tactile1_diff` (3x700x400)
- `observation.images.tactile2_diff` (3x700x400)
- Source timestamps:
- `observation.source_timestamp.camera1_ms`
- `observation.source_timestamp.camera2_ms`
- `observation.source_timestamp.depth1_ms`
- `observation.source_timestamp.depth2_ms`
- `observation.source_timestamp.state_ms`
- `observation.source_timestamp.joint_stamps_ms`
- `observation.source_timestamp.gripper_ms`
- `observation.source_timestamp.tactile1_deform_ms`
- `observation.source_timestamp.tactile2_deform_ms`
- `observation.source_timestamp.tactile1_raw_ms`
- `observation.source_timestamp.tactile2_raw_ms`
- `observation.source_timestamp.tactile1_diff_ms`
- `observation.source_timestamp.tactile2_diff_ms`