Datasets:

AivexRoboticsGroup
/

omy_f3m_right_spacemouse_LG_pick_align_insert_depth_cable2

timestamp float32 0 46.4 ⌀	frame_index int64 0 464 ⌀	index int64 0 9.37k ⌀	observation.depth.right_cam_wrist array 2D	observation.state list	action list	observation.wrench list
0	0	0	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED)	[-0.0005752427969127893,-0.15568706393241882,2.257504463195801,-0.6904471516609192,1.595280051231384(...TRUNCATED)	[-0.0005752427969127893,-0.15568706393241882,2.257504463195801,-0.6904471516609192,1.595280051231384(...TRUNCATED)	[-0.08327717334032059,0.03569892421364784,-0.0541018471121788,0.03809284791350365,0.0047318954020738(...TRUNCATED)
0.1	1	1	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED)	[-0.0005632585962302983,-0.15568706393241882,2.257516384124756,-0.6904471516609192,1.595280051231384(...TRUNCATED)	[-0.0005632585962302983,-0.15568706393241882,2.257504463195801,-0.6904471516609192,1.595280051231384(...TRUNCATED)	[-0.522696316242218,0.27372342348098755,-0.21085157990455627,0.009134889580309391,-0.047653790563344(...TRUNCATED)
0.2	2	2	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED)	[-0.0005512743373401463,-0.15568706393241882,2.257504463195801,-0.6904471516609192,1.595280051231384(...TRUNCATED)	[-0.0005512743373401463,-0.15568706393241882,2.257504463195801,-0.6904471516609192,1.595280051231384(...TRUNCATED)	[0.8010125160217285,-0.1181301474571228,0.31640681624412537,-0.019102012738585472,0.0762570276856422(...TRUNCATED)
0.3	3	3	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED)	[-0.0005392901366576552,-0.15568706393241882,2.257504463195801,-0.6904471516609192,1.595280051231384(...TRUNCATED)	[-0.001077632186934352,-0.15551333129405975,2.2576980590820312,-0.6908017992973328,1.595363616943359(...TRUNCATED)	[1.3820949792861938,0.5663066506385803,-0.18604078888893127,0.01770239695906639,0.10393672436475754,(...TRUNCATED)
0.4	4	4	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED)	[-0.0005392901366576552,-0.15568706393241882,2.257504463195801,-0.6904471516609192,1.595280051231384(...TRUNCATED)	[-0.004616808146238327,-0.15533515810966492,2.2596442699432373,-0.6928938031196594,1.593513250350952(...TRUNCATED)	[0.4702644348144531,0.2986108660697937,0.08730659633874893,0.005554810632020235,0.06524328142404556,(...TRUNCATED)
0.5	5	5	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED)	[-0.0008748483960516751,-0.15567508339881897,2.257540464401245,-0.6906149387359619,1.595184206962585(...TRUNCATED)	[-0.008171908557415009,-0.15557222068309784,2.2611684799194336,-0.6941485404968262,1.592215061187744(...TRUNCATED)	[0.3086613118648529,0.39329278469085693,0.24417123198509216,0.012061879970133305,0.03663657978177070(...TRUNCATED)
0.6	6	6	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED)	[-0.0023369239643216133,-0.15566310286521912,2.258451223373413,-0.6913819313049316,1.594704866409301(...TRUNCATED)	[-0.013231545686721802,-0.15648309886455536,2.2638237476348877,-0.6958703398704529,1.590240240097046(...TRUNCATED)	[-0.18813909590244293,-0.0618249736726284,0.09750852733850479,0.02838641032576561,-0.022285034880042(...TRUNCATED)
0.7	7	7	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED)	[-0.004518052563071251,-0.15566310286521912,2.259685516357422,-0.6924245357513428,1.5936741828918457(...TRUNCATED)	[-0.01623447984457016,-0.15709975361824036,2.2658119201660156,-0.6972479224205017,1.5888210535049438(...TRUNCATED)	[0.879758358001709,-0.14698371291160583,-0.0843295082449913,-0.011485549621284008,0.0971631482243537(...TRUNCATED)
0.8	8	8	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED)	[-0.007430219557136297,-0.15577095746994019,2.261087656021118,-0.6936109662055969,1.5924638509750366(...TRUNCATED)	[-0.019491925835609436,-0.15804490447044373,2.268109083175659,-0.6986324787139893,1.5868854522705078(...TRUNCATED)	[0.19960980117321014,0.30420273542404175,0.5321570634841919,0.0030792809557169676,-0.003644393524155(...TRUNCATED)
0.9	9	9	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED)	[-0.010450243949890137,-0.15617841482162476,2.262765407562256,-0.6948933005332947,1.591193437576294,(...TRUNCATED)	[-0.02221708744764328,-0.15844440460205078,2.2688872814178467,-0.6990321278572083,1.5856940746307373(...TRUNCATED)	[-0.08218110352754593,0.204339861869812,0.07121095806360245,0.07454715669155121,0.018840448930859566(...TRUNCATED)

End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": null,
    "total_episodes": 50,
    "total_frames": 9371,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:50"
    },
    "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.images.right_cam_wrist": {
            "dtype": "video",
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                480,
                640,
                3
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "libx264",
                "video.pix_fmt": "yuv420p"
            }
        },
        "observation.depth.right_cam_wrist": {
            "dtype": "uint16",
            "names": [
                "height",
                "width"
            ],
            "shape": [
                480,
                640
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint1",
                "joint2",
                "joint3",
                "joint4",
                "joint5",
                "joint6",
                "rh_r1_joint"
            ],
            "shape": [
                7
            ]
        },
        "action": {
            "dtype": "float32",
            "names": [
                "joint1",
                "joint2",
                "joint3",
                "joint4",
                "joint5",
                "joint6",
                "rh_r1_joint"
            ],
            "shape": [
                7
            ]
        },
        "observation.wrench": {
            "dtype": "float32",
            "names": [
                "force_x",
                "force_y",
                "force_z",
                "torque_x",
                "torque_y",
                "torque_z"
            ],
            "shape": [
                6
            ]
        }
    }
}

Citation

BibTeX:

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