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action list | observation.state list | observation.depth.cam_realsense array 2D | observation.pointcloud.cam_realsense array 2D | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|
[12.571428298950195,-104.92308044433594,96.65933990478516,74.63735961914062,4.351648330688477,1.8912(...TRUNCATED) | [12.571428298950195,-100.92308044433594,96.21977996826172,74.37362670898438,4.703296661376953,2.2010(...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) | [[-0.07966307550668716,0.12620927393436432,0.5230000019073486,0.9960784316062927,1.0,0.9882352948188(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[12.571428298950195,-104.92308044433594,96.65933990478516,74.63735961914062,4.351648330688477,1.8912(...TRUNCATED) | [12.571428298950195,-100.92308044433594,96.21977996826172,74.37362670898438,4.703296661376953,2.2010(...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) | [[0.22109214961528778,-0.056270256638526917,0.6000000238418579,0.4431372582912445,0.4352941215038299(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[12.571428298950195,-104.92308044433594,96.65933990478516,74.63735961914062,4.351648330688477,1.8912(...TRUNCATED) | [12.571428298950195,-100.92308044433594,96.21977996826172,74.37362670898438,4.703296661376953,2.2010(...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) | [[0.17844197154045105,-0.05267709121108055,0.593000054359436,0.48235294222831726,0.47058823704719543(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[12.571428298950195,-104.92308044433594,96.65933990478516,74.63735961914062,4.351648330688477,1.8912(...TRUNCATED) | [12.571428298950195,-100.92308044433594,96.21977996826172,74.37362670898438,4.703296661376953,2.2010(...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) | [[0.1288057416677475,0.1278015375137329,0.5260000228881836,0.9843137264251709,1.0,0.9882352948188782(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[12.571428298950195,-104.92308044433594,96.65933990478516,74.63735961914062,4.351648330688477,1.8912(...TRUNCATED) | [12.571428298950195,-100.92308044433594,96.21977996826172,74.37362670898438,4.703296661376953,2.2010(...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) | [[0.1453026384115219,-0.1457148790359497,0.4700000286102295,0.003921568859368563,0.01568627543747425(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[12.571428298950195,-104.92308044433594,96.65933990478516,74.63735961914062,4.351648330688477,1.8912(...TRUNCATED) | [12.571428298950195,-100.92308044433594,96.21977996826172,74.37362670898438,4.703296661376953,2.2010(...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) | [[0.16669121384620667,-0.0906425267457962,0.43300002813339233,0.0,0.01568627543747425,0.011764706112(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[12.571428298950195,-104.92308044433594,96.65933990478516,74.63735961914062,4.351648330688477,1.8912(...TRUNCATED) | [12.571428298950195,-100.92308044433594,96.30769348144531,74.37362670898438,4.703296661376953,2.2010(...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) | [[0.06088117137551308,-0.005488710943609476,0.5720000267028809,0.3803921639919281,0.3921568691730499(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[12.571428298950195,-104.92308044433594,96.65933990478516,74.63735961914062,4.351648330688477,1.8912(...TRUNCATED) | [12.571428298950195,-100.92308044433594,96.3956069946289,74.37362670898438,4.703296661376953,2.20107(...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) | [[0.12068498879671097,0.16937562823295593,0.5100000500679016,0.9843137264251709,1.0,0.98823529481887(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[12.571428298950195,-104.92308044433594,96.65933990478516,74.63735961914062,4.351648330688477,1.8912(...TRUNCATED) | [12.571428298950195,-100.92308044433594,96.3956069946289,74.37362670898438,4.703296661376953,2.20107(...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) | [[-0.15900665521621704,-0.052765924483537674,0.5940000414848328,0.4117647111415863,0.431372553110122(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[12.571428298950195,-104.92308044433594,96.65933990478516,74.63735961914062,4.351648330688477,1.8912(...TRUNCATED) | [12.571428298950195,-100.92308044433594,96.3956069946289,74.37362670898438,4.703296661376953,2.20107(...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) | [[-0.10155847668647766,0.14751827716827393,0.5160000324249268,0.9843137264251709,1.0,0.9803921580314(...TRUNCATED) | 0.3 | 9 | 0 | 9 | 0 |
End of preview.
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "bi_so_follower",
"total_episodes": 2,
"total_frames": 544,
"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": {
"action": {
"dtype": "float32",
"shape": [
12
],
"names": [
"left_shoulder_pan.pos",
"left_shoulder_lift.pos",
"left_elbow_flex.pos",
"left_wrist_flex.pos",
"left_wrist_roll.pos",
"left_gripper.pos",
"right_shoulder_pan.pos",
"right_shoulder_lift.pos",
"right_elbow_flex.pos",
"right_wrist_flex.pos",
"right_wrist_roll.pos",
"right_gripper.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
12
],
"names": [
"left_shoulder_pan.pos",
"left_shoulder_lift.pos",
"left_elbow_flex.pos",
"left_wrist_flex.pos",
"left_wrist_roll.pos",
"left_gripper.pos",
"right_shoulder_pan.pos",
"right_shoulder_lift.pos",
"right_elbow_flex.pos",
"right_wrist_flex.pos",
"right_wrist_roll.pos",
"right_gripper.pos"
]
},
"observation.images.left_cam_left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_cam_scene": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_cam_right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_realsense_rgb": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.depth.cam_realsense": {
"dtype": "uint16",
"shape": [
480,
640
],
"names": [
"height",
"width"
]
},
"observation.images.cam_realsense_ir_left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_realsense_ir_right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.pointcloud.cam_realsense": {
"dtype": "float32",
"shape": [
16384,
6
],
"names": [
"points",
"xyzrgb"
]
},
"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
}
}
}
Citation
BibTeX:
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