sriramsk/droid_lerobot

---
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": "v2.1",
"robot_type": null,
"total_episodes": 18327,
"total_frames": 3974430,
"total_tasks": 12747,
"total_videos": 128289,
"total_chunks": 19,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:18327"
},
"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": [
18
],
"names": [
"left_waist",
"left_shoulder",
"left_shoulder_shadow",
"left_elbow",
"left_elbow_shadow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_shoulder_shadow",
"right_elbow",
"right_elbow_shadow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
},
"observation.right_eef_pose": {
"dtype": "float32",
"shape": [
10
],
"names": [
"rot_6d_0",
"rot_6d_1",
"rot_6d_2",
"rot_6d_3",
"rot_6d_4",
"rot_6d_5",
"trans_0",
"trans_1",
"trans_2",
"gripper_articulation"
]
},
"action": {
"dtype": "float32",
"shape": [
18
],
"names": [
"left_waist",
"left_shoulder",
"left_shoulder_shadow",
"left_elbow",
"left_elbow_shadow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_shoulder_shadow",
"right_elbow",
"right_elbow_shadow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
},
"action.right_eef_pose": {
"dtype": "float32",
"shape": [
10
],
"names": [
"rot_6d_0",
"rot_6d_1",
"rot_6d_2",
"rot_6d_3",
"rot_6d_4",
"rot_6d_5",
"trans_0",
"trans_1",
"trans_2",
"gripper_articulation"
]
},
"observation.images.cam_wrist": {
"dtype": "video",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "Wrist camera image"
},
"observation.points.gripper_pcds": {
"dtype": "pcd",
"shape": [
-1,
3
],
"names": [
"N",
"channels"
],
"info": "Raw gripper point cloud at current position"
},
"next_event_idx": {
"dtype": "int32",
"shape": [
1
],
"names": [
"idx"
],
"info": "Index of next event in the dataset"
},
"embodiment": {
"dtype": "string",
"shape": [
1
],
"names": [
"embodiment"
],
"info": "Name of embodiment"
},
"observation.images.cam_1.color": {
"dtype": "video",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "RGB image"
},
"observation.images.cam_1.depth": {
"dtype": "video",
"shape": [
180,
320,
1
],
"names": [
"height",
"width",
"channels"
],
"info": "Depth"
},
"observation.images.cam_1.goal_gripper_proj": {
"dtype": "video",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "Projection of gripper pcd at goal position onto image"
},
"observation.cam_1.intrinsics": {
"dtype": "float32",
"shape": [
3,
3
],
"names": [
"rows",
"cols"
],
"info": "Camera intrinsic matrix (K)"
},
"observation.cam_1.extrinsics": {
"dtype": "float32",
"shape": [
4,
4
],
"names": [
"rows",
"cols"
],
"info": "Camera extrinsic matrix (T_world_cam)"
},
"observation.images.cam_2.color": {
"dtype": "video",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "RGB image"
},
"observation.images.cam_2.depth": {
"dtype": "video",
"shape": [
180,
320,
1
],
"names": [
"height",
"width",
"channels"
],
"info": "Depth"
},
"observation.images.cam_2.goal_gripper_proj": {
"dtype": "video",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "Projection of gripper pcd at goal position onto image"
},
"observation.cam_2.intrinsics": {
"dtype": "float32",
"shape": [
3,
3
],
"names": [
"rows",
"cols"
],
"info": "Camera intrinsic matrix (K)"
},
"observation.cam_2.extrinsics": {
"dtype": "float32",
"shape": [
4,
4
],
"names": [
"rows",
"cols"
],
"info": "Camera extrinsic matrix (T_world_cam)"
},
"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]
```