metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- License: Apache-2.0
- Task Objective: Pick up the banana from the desk and place it on the plate.
- Operational Objects: banana and plate.
- Recording Frequency: 30 Hz.
- Robot Type: tron2_v4_claw_v0.
- End Effector: claw grippers.
- Dual-Arm Operation: Yes.
- Image Observations: included.
- Camera Positions: high camera plus left and right wrist cameras.
- Total Episodes: 697.
- Total Frames: 144544.
- Upload Scope: full banana dataset upload with image observations preserved.
Task Preview
Autoplay preview of the banana pick-and-place task from the high camera viewpoint.
Files
assets/banana_task_preview.mp4: autoplay task preview video rendered from the original episode data.data/chunk-000/episode_*.parquet: all uploaded episodes with image observations and robot state/action fields.meta/tasks.jsonl: task definitions.meta/episodes.jsonl: episode index and length metadata.meta/episodes_stats.jsonl: per-episode statistics.meta/stats.json: aggregate dataset statistics.meta/info.json: dataset metadata shown below.
meta/info.json
{
"codebase_version": "v2.1",
"robot_type": "tron2_v4_claw_v0",
"fps": 30,
"features": {
"observation.images.cam_high": {
"dtype": "image",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.cam_left_wrist": {
"dtype": "image",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.cam_right_wrist": {
"dtype": "image",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"abad_L_Joint",
"hip_L_Joint",
"yaw_L_Joint",
"knee_L_Joint",
"wrist_yaw_L_Joint",
"wrist_pitch_L_Joint",
"wrist_roll_L_Joint",
"left_gripper",
"abad_R_Joint",
"hip_R_Joint",
"yaw_R_Joint",
"knee_R_Joint",
"wrist_yaw_R_Joint",
"wrist_pitch_R_Joint",
"wrist_roll_R_Joint",
"right_gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
"abad_L_Joint",
"hip_L_Joint",
"yaw_L_Joint",
"knee_L_Joint",
"wrist_yaw_L_Joint",
"wrist_pitch_L_Joint",
"wrist_roll_L_Joint",
"left_gripper",
"abad_R_Joint",
"hip_R_Joint",
"yaw_R_Joint",
"knee_R_Joint",
"wrist_yaw_R_Joint",
"wrist_pitch_R_Joint",
"wrist_roll_R_Joint",
"right_gripper"
]
},
"observation.ee_pose_left": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"observation.ee_pose_right": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"observation.ee_pose_cmd_left": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"observation.ee_pose_cmd_right": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"timestamp": {
"dtype": "float32",
"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
}
},
"total_episodes": 697,
"total_frames": 144544,
"total_tasks": 1,
"total_chunks": 1,
"total_videos": 0,
"chunks_size": 1000,
"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",
"splits": {
"train": "0:697"
}
}