Helium-bre/drill_play_franka_franka_umi_tacticle

---
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).

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=Helium-bre/drill_play_franka_franka_umi_tacticle">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>

## 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": null,
"total_episodes": 32,
"total_frames": 16000,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:32"
},
"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": {
"obs.state.gripper.grasp_tip_pos": {
"dtype": "float32",
"shape": [
6
]
},
"obs.state.gripper.pinch_min": {
"dtype": "float32",
"shape": [
1
]
},
"obs.state.gripper.pinch_widths": {
"dtype": "float32",
"shape": [
1
]
},
"obs.state.gripper.qpos": {
"dtype": "float32",
"shape": [
2
]
},
"obs.state.gripper.qtorque": {
"dtype": "float32",
"shape": [
2
]
},
"obs.state.gripper.qvel": {
"dtype": "float32",
"shape": [
2
]
},
"obs.state.gripper.tactile.left_elastomer.contact": {
"dtype": "float32",
"shape": [
1
]
},
"obs.state.gripper.tactile.left_elastomer.force": {
"dtype": "float32",
"shape": [
3
]
},
"obs.state.gripper.tactile.left_elastomer.force_grid": {
"dtype": "float32",
"shape": [
12,
32
]
},
"obs.state.gripper.tactile.left_elastomer.force_grid_norm": {
"dtype": "float32",
"shape": [
12,
32
]
},
"obs.state.gripper.tactile.left_elastomer.force_norm": {
"dtype": "float32",
"shape": [
1
]
},
"obs.state.gripper.tactile.left_elastomer.points": {
"dtype": "float32",
"shape": [
384,
4
]
},
"obs.state.gripper.tactile.left_elastomer.points_raw": {
"dtype": "float32",
"shape": [
384,
4
]
},
"obs.state.gripper.tactile.left_elastomer.pos": {
"dtype": "float32",
"shape": [
3
]
},
"obs.state.gripper.tactile.left_elastomer.quat": {
"dtype": "float32",
"shape": [
4
]
},
"reward": {
"dtype": "float32",
"shape": [
1
]
},
"truncated": {
"dtype": "bool",
"shape": [
1
]
},
"success": {
"dtype": "bool",
"shape": [
1
]
},
"failure": {
"dtype": "bool",
"shape": [
1
]
},
"action": {
"dtype": "float32",
"shape": [
8
]
},
"obs.state.gripper.tactile.right_elastomer.contact": {
"dtype": "float32",
"shape": [
1
]
},
"obs.state.gripper.tactile.right_elastomer.force": {
"dtype": "float32",
"shape": [
3
]
},
"obs.state.gripper.tactile.right_elastomer.force_grid": {
"dtype": "float32",
"shape": [
12,
32
]
},
"obs.state.gripper.tactile.right_elastomer.force_grid_norm": {
"dtype": "float32",
"shape": [
12,
32
]
},
"obs.state.gripper.tactile.right_elastomer.force_norm": {
"dtype": "float32",
"shape": [
1
]
},
"obs.state.gripper.tactile.right_elastomer.points": {
"dtype": "float32",
"shape": [
384,
4
]
},
"obs.state.gripper.tactile.right_elastomer.points_raw": {
"dtype": "float32",
"shape": [
384,
4
]
},
"obs.state.gripper.tactile.right_elastomer.pos": {
"dtype": "float32",
"shape": [
3
]
},
"obs.state.gripper.tactile.right_elastomer.quat": {
"dtype": "float32",
"shape": [
4
]
},
"obs.state.gripper.tactile.tactile_points": {
"dtype": "float32",
"shape": [
768,
4
]
},
"obs.state.gripper.tactile.tactile_points_raw": {
"dtype": "float32",
"shape": [
768,
4
]
},
"obs.state.gripper.tcp_pos": {
"dtype": "float32",
"shape": [
3
]
},
"obs.state.gripper.tcp_quat": {
"dtype": "float32",
"shape": [
4
]
},
"obs.state.manipulator.eef_pos": {
"dtype": "float32",
"shape": [
1,
3
]
},
"obs.state.manipulator.eef_quat": {
"dtype": "float32",
"shape": [
1,
4
]
},
"obs.state.manipulator.qpos": {
"dtype": "float32",
"shape": [
7
]
},
"obs.state.manipulator.qtorque": {
"dtype": "float32",
"shape": [
7
]
},
"obs.state.manipulator.qvel": {
"dtype": "float32",
"shape": [
7
]
},
"obs.state.other.action": {
"dtype": "float32",
"shape": [
8
]
},
"obs.state.other.drill_pos": {
"dtype": "float32",
"shape": [
3
]
},
"obs.state.other.drill_quat": {
"dtype": "float32",
"shape": [
4
]
},
"obs.state.other.last_action": {
"dtype": "float32",
"shape": [
8
]
},
"obs.cameras.front.rgb": {
"dtype": "video",
"shape": [
224,
224,
3
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"obs.cameras.wrist.rgb": {
"dtype": "video",
"shape": [
224,
224,
3
],
"info": {
"video.height": 224,
"video.width": 224,
"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
}
},
"task": "drill_play",
"options": null
}
```

## Citation

**BibTeX:**

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