Search is not available for this dataset
observation.state list | action list | is_episode_successful bool 2
classes | observation.camera.head.pose array 2D | observation.camera.head.intrinsics array 2D | observation.camera.gripper.pose array 2D | observation.camera.gripper.intrinsics array 2D | observation.depths.head array 2D | observation.depths.gripper array 2D | timestamp float32 0 23.7 | frame_index int64 0 356 | episode_index int64 0 4 | index int64 0 1.58k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "Stretch",
"total_episodes": 5,
"total_frames": 1581,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:5"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"eef_x",
"eef_y",
"eef_z",
"eef_ax",
"eef_ay",
"eef_az",
"gripper_0",
"gripper_1"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"eef_x",
"eef_y",
"eef_z",
"eef_ax",
"eef_ay",
"eef_az",
"gripper"
]
},
"is_episode_successful": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"observation.camera.head.pose": {
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"shape": [
4,
4
],
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},
"observation.camera.head.intrinsics": {
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3,
3
],
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},
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4,
4
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},
"observation.camera.gripper.intrinsics": {
"dtype": "float32",
"shape": [
3,
3
],
"names": null
},
"observation.images.gripper": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.head": {
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320,
240,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.width": 240,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.depths.head": {
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"shape": [
320,
240
],
"names": null
},
"observation.depths.gripper": {
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"shape": [
240,
320
],
"names": null
},
"timestamp": {
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},
"frame_index": {
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"episode_index": {
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},
"index": {
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},
"task_index": {
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1
],
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}
}
}
Citation
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