Datasets:

AivexRoboticsGroup
/

omy_f3m_right_spacemouse_LG_pick_align_insert_depth_cable5

timestamp float32 0 45.2	frame_index int64 0 452	index int64 0 10.6k	observation.depth.right_cam_wrist array 2D	observation.state list	action list	observation.wrench list
0	0	0	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,284,284,279,279,277,277,277,277,277,278,(...TRUNCATED)	[0.6477353572845459,-0.1703198105096817,2.153193712234497,-0.55739825963974,1.52682626247406,-2.1858(...TRUNCATED)	[0.6477353572845459,-0.1703198105096817,2.153193712234497,-0.55739825963974,1.52682626247406,-2.1858(...TRUNCATED)	[-0.36692583560943604,-0.12856483459472656,-0.15942473709583282,0.0014557288959622383,-0.00967723783(...TRUNCATED)
0.1	1	1	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,283,283,283,283,283,282,281,280,280,279,27(...TRUNCATED)	[0.6477353572845459,-0.1703198105096817,2.153193712234497,-0.55739825963974,1.52682626247406,-2.1858(...TRUNCATED)	[0.6477353572845459,-0.1703198105096817,2.153193712234497,-0.55739825963974,1.52682626247406,-2.1858(...TRUNCATED)	[-0.4725690484046936,-0.18176427483558655,-0.3415347933769226,-0.02456071227788925,-0.03133167326450(...TRUNCATED)
0.2	2	2	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,285,285,285,285,285,284,284,284,283,283,282,282,28(...TRUNCATED)	[0.6477353572845459,-0.1703198105096817,2.153193712234497,-0.5574102401733398,1.5268381834030151,-2.(...TRUNCATED)	[0.6477353572845459,-0.1703198105096817,2.153193712234497,-0.5574102401733398,1.5268381834030151,-2.(...TRUNCATED)	[-0.33158382773399353,-0.14759907126426697,0.0575747974216938,0.0001312093809247017,-0.0173110216856(...TRUNCATED)
0.3	3	3	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,277,276,276,275,275,275,275,275,(...TRUNCATED)	[0.6477353572845459,-0.1703198105096817,2.153193712234497,-0.5574102401733398,1.5268381834030151,-2.(...TRUNCATED)	[0.6477353572845459,-0.1703198105096817,2.153193712234497,-0.5574102401733398,1.5268381834030151,-2.(...TRUNCATED)	[-0.11559290438890457,0.19326861202716827,-0.16646166145801544,0.0016715871170163155,0.0019465802470(...TRUNCATED)
0.4	4	4	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,284,281,279,277,276,276,277,27(...TRUNCATED)	[0.6477353572845459,-0.1703198105096817,2.153193712234497,-0.5574222803115845,1.5268381834030151,-2.(...TRUNCATED)	[0.6477353572845459,-0.1703198105096817,2.153193712234497,-0.5574102401733398,1.5268381834030151,-2.(...TRUNCATED)	[-0.2967233657836914,-0.30889227986335754,-0.16357727348804474,-0.0007360903546214104,0.024450313299(...TRUNCATED)
0.5	5	5	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,284,284,283,283,283,283,282,282,281,281,281,280,28(...TRUNCATED)	[0.6477353572845459,-0.1703198105096817,2.153193712234497,-0.5574222803115845,1.5268502235412598,-2.(...TRUNCATED)	[0.6477353572845459,-0.1703198105096817,2.153193712234497,-0.5574222803115845,1.5268502235412598,-2.(...TRUNCATED)	[-0.2634737491607666,0.05563558265566826,-0.4503292441368103,-0.01891336962580681,-0.052413038909435(...TRUNCATED)
0.6	6	6	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,284,284,284,284,283,283,282,281,281,280,279,279,(...TRUNCATED)	[0.6477353572845459,-0.1703198105096817,2.153193712234497,-0.5574342608451843,1.5268502235412598,-2.(...TRUNCATED)	[0.6477353572845459,-0.1703198105096817,2.153193712234497,-0.5574222803115845,1.5268502235412598,-2.(...TRUNCATED)	[0.11920417845249176,0.3889008164405823,-0.18338866531848907,0.01849447563290596,-0.0058650332503020(...TRUNCATED)
0.7	7	7	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,282,281,281,281,281,281,281,282,283,28(...TRUNCATED)	[0.6477353572845459,-0.1703198105096817,2.153193712234497,-0.5574342608451843,1.5268621444702148,-2.(...TRUNCATED)	[0.6477353572845459,-0.17031978070735931,2.153193712234497,-0.5574342608451843,1.5268502235412598,-2(...TRUNCATED)	[0.19500571489334106,0.29520463943481445,-0.17552752792835236,-0.011743138544261456,-0.0163855403661(...TRUNCATED)
0.8	8	8	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,278,278,278,278,279,279,279,(...TRUNCATED)	[0.6477353572845459,-0.17030781507492065,2.153193712234497,-0.5574462413787842,1.5268621444702148,-2(...TRUNCATED)	[0.6477354168891907,-0.1703198403120041,2.153193712234497,-0.5574461817741394,1.5268621444702148,-2.(...TRUNCATED)	[-0.020193275064229965,-0.055523429065942764,0.013579892925918102,0.04654691740870476,0.029805567115(...TRUNCATED)
0.9	9	9	[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,294,293,292,291,290,289,287,286,285,285,284,284,283,(...TRUNCATED)	[0.6477353572845459,-0.17030781507492065,2.153193712234497,-0.5574462413787842,1.5268621444702148,-2(...TRUNCATED)	[0.6455475687980652,-0.17114299535751343,2.1541836261749268,-0.5577078461647034,1.52717924118042,-2.(...TRUNCATED)	[-0.25530245900154114,0.12352008372545242,-0.29674333333969116,-0.026810482144355774,-0.026259882375(...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": 40,
    "total_frames": 10629,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:40"
    },
    "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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