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observation.overhead_depth array 2D | observation.gripper_depth array 2D | observation.state list | action list | observation.state_ee list | action_ee list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [-1.2968463897705078,1.0408610105514526,-1.9556870460510254,-0.11055685579776764,-0.2994398474693298(...TRUNCATED) | [-1.2968463897705078,1.0408610105514526,-1.9556870460510254,-0.11055685579776764,-0.2994398474693298(...TRUNCATED) | [-0.4549814760684967,-0.3188426196575165,1.6341339349746704,0.9872883558273315,-0.041754432022571564(...TRUNCATED) | [-0.4549814760684967,-0.3188426196575165,1.6341339349746704,0.5509268045425415,-0.8319353461265564,0(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [-1.2968459129333496,1.0408780574798584,-1.9556423425674438,-0.1105252131819725,-0.29941123723983765(...TRUNCATED) | [-1.2968459129333496,1.0408780574798584,-1.9556423425674438,-0.1105252131819725,-0.29941123723983765(...TRUNCATED) | [-0.4549436569213867,-0.31883496046066284,1.6341233253479004,0.9872804880142212,-0.04175392538309097(...TRUNCATED) | [-0.4549436569213867,-0.31883496046066284,1.6341233253479004,0.5509268045425415,-0.8319353461265564,(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [-1.2968454360961914,1.040892243385315,-1.9556046724319458,-0.11049837619066238,-0.2993871569633484,(...TRUNCATED) | [-1.2968454360961914,1.040892243385315,-1.9556046724319458,-0.11049837619066238,-0.2993871569633484,(...TRUNCATED) | [-0.454912006855011,-0.31882864236831665,1.634114146232605,0.9872739315032959,-0.04175335168838501,0(...TRUNCATED) | [-0.454912006855011,-0.31882864236831665,1.634114146232605,0.5509268045425415,-0.8319353461265564,0.(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [-1.2968449592590332,1.0409045219421387,-1.9555726051330566,-0.11047566682100296,-0.2993667125701904(...TRUNCATED) | [-1.2968449592590332,1.0409045219421387,-1.9555726051330566,-0.11047566682100296,-0.2993667125701904(...TRUNCATED) | [-0.4548851549625397,-0.31882303953170776,1.6341063976287842,0.987268328666687,-0.04175304248929024,(...TRUNCATED) | [-0.4548851549625397,-0.31882303953170776,1.6341063976287842,0.5509268045425415,-0.8319353461265564,(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [-1.296844482421875,1.040914535522461,-1.9555457830429077,-0.11045637726783752,-0.2993493676185608,1(...TRUNCATED) | [-1.296844482421875,1.040914535522461,-1.9555457830429077,-0.11045637726783752,-0.2993493676185608,1(...TRUNCATED) | [-0.45486247539520264,-0.31881847977638245,1.6340999603271484,0.9872636198997498,-0.0417526774108409(...TRUNCATED) | [-0.45486247539520264,-0.31881847977638245,1.6340999603271484,0.5509268045425415,-0.8319353461265564(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [-1.296844244003296,1.0409231185913086,-1.9555225372314453,-0.11044002324342728,-0.29933470487594604(...TRUNCATED) | [-1.296844244003296,1.0409231185913086,-1.9555225372314453,-0.11044002324342728,-0.29933470487594604(...TRUNCATED) | [-0.4548432528972626,-0.318814754486084,1.6340943574905396,0.987259566783905,-0.041752226650714874,0(...TRUNCATED) | [-0.4548432528972626,-0.318814754486084,1.6340943574905396,0.5509268045425415,-0.8319353461265564,0.(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [-1.296844244003296,1.0409303903579712,-1.9555033445358276,-0.11042618751525879,-0.2993222177028656,(...TRUNCATED) | [-1.296844244003296,1.0409303903579712,-1.9555033445358276,-0.11042618751525879,-0.2993222177028656,(...TRUNCATED) | [-0.4548269808292389,-0.3188113868236542,1.634089708328247,0.9872562289237976,-0.04175200313329697,0(...TRUNCATED) | [-0.4548269808292389,-0.3188113868236542,1.634089708328247,0.5509268045425415,-0.8319353461265564,0.(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [-1.296844244003296,1.0409364700317383,-1.955486536026001,-0.11041446775197983,-0.2993116080760956,1(...TRUNCATED) | [-1.296844244003296,1.0409364700317383,-1.955486536026001,-0.11041446775197983,-0.2993116080760956,1(...TRUNCATED) | [-0.45481300354003906,-0.31880849599838257,1.6340855360031128,0.9872533679008484,-0.0417519621551036(...TRUNCATED) | [-0.45481300354003906,-0.31880849599838257,1.6340855360031128,0.5509268045425415,-0.8319353461265564(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [-1.296844244003296,1.0409420728683472,-1.955472707748413,-0.11040452867746353,-0.29930269718170166,(...TRUNCATED) | [-1.296844244003296,1.0409420728683472,-1.955472707748413,-0.11040452867746353,-0.29930269718170166,(...TRUNCATED) | [-0.45480114221572876,-0.31880614161491394,1.6340820789337158,0.9872509241104126,-0.0417516045272350(...TRUNCATED) | [-0.45480114221572876,-0.31880614161491394,1.6340820789337158,0.5509268045425415,-0.8319353461265564(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [-1.296844244003296,1.0409464836120605,-1.9554615020751953,-0.11039610207080841,-0.2992950677871704,(...TRUNCATED) | [-1.296844244003296,1.0409464836120605,-1.9554615020751953,-0.11039610207080841,-0.2992950677871704,(...TRUNCATED) | [-0.45479151606559753,-0.31880420446395874,1.6340794563293457,0.9872488975524902,-0.0417514778673648(...TRUNCATED) | [-0.45479151606559753,-0.31880420446395874,1.6340794563293457,0.5509268045425415,-0.8319353461265564(...TRUNCATED) | 0.3 | 9 | 0 | 9 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "piper",
"total_episodes": 2,
"total_frames": 583,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:2"
},
"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.images.overhead": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.gripper": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.overhead_depth": {
"dtype": "int32",
"shape": [
720,
1280
],
"names": [
"height",
"width"
]
},
"observation.gripper_depth": {
"dtype": "int32",
"shape": [
720,
1280
],
"names": [
"height",
"width"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper_master",
"gripper_slave"
]
}
},
"action": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper_master",
"gripper_slave"
]
}
},
"observation.state_ee": {
"dtype": "float32",
"shape": [
8
],
"names": {
"pose": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw",
"gripper_cmd"
]
}
},
"action_ee": {
"dtype": "float32",
"shape": [
8
],
"names": {
"pose": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw",
"gripper_cmd"
]
}
},
"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
}
}
}
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