Datasets:

AivexRoboticsGroup
/

omy_f3m_right_spacemouse_LG_pick_align_insert_depth_cable4

timestamp float32 0 35.8	frame_index int64 0 358	index int64 0 10.2k	observation.depth.right_cam_wrist array 2D	observation.state list	action list	observation.wrench list
0	0	0	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,288,288,288,288,289,290,291,291,291,(...TRUNCATED)	[0.43900611996650696,-0.1627817302942276,2.2118923664093018,-0.6658435463905334,1.5583447217941284,-(...TRUNCATED)	[0.43900611996650696,-0.1627817302942276,2.2118923664093018,-0.6658435463905334,1.5583447217941284,-(...TRUNCATED)	[-0.31982091069221497,-0.2445659041404724,-0.39003756642341614,0.027547921985387802,-0.0002851886092(...TRUNCATED)
0.1	1	1	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,299,298,298,298,298,29(...TRUNCATED)	[0.43900611996650696,-0.1627817302942276,2.2118923664093018,-0.6658435463905334,1.5583447217941284,-(...TRUNCATED)	[0.43900611996650696,-0.1627817302942276,2.2118923664093018,-0.6658435463905334,1.5583447217941284,-(...TRUNCATED)	[-0.11319611966609955,0.346925288438797,0.17118695378303528,0.042470578104257584,-0.0243083052337169(...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)	[0.4390181005001068,-0.1627817302942276,2.2118923664093018,-0.6658435463905334,1.5583447217941284,-1(...TRUNCATED)	[0.4390181005001068,-0.1627817302942276,2.2118923664093018,-0.6658435463905334,1.5583447217941284,-1(...TRUNCATED)	[0.18108657002449036,0.09322325885295868,-0.23230549693107605,0.014641061425209045,0.020433649420738(...TRUNCATED)
0.3	3	3	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,295,295,295,295,294,294,29(...TRUNCATED)	[0.4390181005001068,-0.16279371082782745,2.2118923664093018,-0.6658435463905334,1.5583447217941284,-(...TRUNCATED)	[0.4390181005001068,-0.16279371082782745,2.2118923664093018,-0.6658435463905334,1.5583447217941284,-(...TRUNCATED)	[-0.04229391738772392,-0.12112884223461151,0.1512686312198639,-0.00937475636601448,-0.00425696698948(...TRUNCATED)
0.4	4	4	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,289,289,289,288,288,(...TRUNCATED)	[0.4390181005001068,-0.16279371082782745,2.2118923664093018,-0.6658435463905334,1.5583447217941284,-(...TRUNCATED)	[0.4381011128425598,-0.16266150772571564,2.211857318878174,-0.6659517288208008,1.5585156679153442,-1(...TRUNCATED)	[0.3161877393722534,0.13399501144886017,0.11840955168008804,0.006908014416694641,0.01816526614129543(...TRUNCATED)
0.5	5	5	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,296,296,296,296,296,296,295,29(...TRUNCATED)	[0.4389941394329071,-0.16279371082782745,2.2118923664093018,-0.6658435463905334,1.5583447217941284,-(...TRUNCATED)	[0.4346392750740051,-0.16170527040958405,2.211209535598755,-0.6662376523017883,1.559362769126892,-1.(...TRUNCATED)	[-0.025269996374845505,-0.20711126923561096,-0.028793657198548317,0.00022105682000983506,0.023820612(...TRUNCATED)
0.6	6	6	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,292,292,291,29(...TRUNCATED)	[0.43835899233818054,-0.16276974976062775,2.2118923664093018,-0.6658555269241333,1.5584046840667725,(...TRUNCATED)	[0.4291492700576782,-0.1599104404449463,2.209878921508789,-0.6666353940963745,1.5608307123184204,-1.(...TRUNCATED)	[0.06544719636440277,0.3859763443470001,-0.548331081867218,0.04328489676117897,0.007954579778015614,(...TRUNCATED)
0.7	7	7	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,296,295,295,295,295,295,29(...TRUNCATED)	[0.43660926818847656,-0.1624341905117035,2.2118566036224365,-0.6659034490585327,1.5588840246200562,-(...TRUNCATED)	[0.4225787818431854,-0.15680159628391266,2.208036422729492,-0.6675823926925659,1.5625845193862915,-1(...TRUNCATED)	[-0.21864326298236847,-0.23662574589252472,0.023049985989928246,0.008773032575845718,-0.010058784857(...TRUNCATED)
0.8	8	8	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,294,294,294,293,293,(...TRUNCATED)	[0.43351733684539795,-0.1612117886543274,2.2113890647888184,-0.6662390232086182,1.5596868991851807,-(...TRUNCATED)	[0.4151378870010376,-0.15235084295272827,2.2056825160980225,-0.6688603162765503,1.5645275115966797,-(...TRUNCATED)	[-0.3074644207954407,0.13178326189517975,0.38401809334754944,-0.004524093121290207,-0.02975426241755(...TRUNCATED)
0.9	9	9	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,291,291,291,(...TRUNCATED)	[0.4293108880519867,-0.15931828320026398,2.2098071575164795,-0.6668022871017456,1.5608134269714355,-(...TRUNCATED)	[0.4073216915130615,-0.14771108329296112,2.2043349742889404,-0.671790599822998,1.5660995244979858,-1(...TRUNCATED)	[0.032893870025873184,0.5124150514602661,-0.015202367678284645,0.022610440850257874,-0.0286797769367(...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": 10233,
    "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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