Datasets:
action list | observation.state list | observation.right_eef_pose list | action.right_eef_pose list | embodiment stringclasses 1
value | observation.points.gripper_pcds listlengths 778 778 | observation.points.goal_gripper_pcds listlengths 778 778 | next_event_idx int32 34 147 | observation.cam_azure_kinect_front.intrinsics array 2D | observation.cam_azure_kinect_front.extrinsics array 2D | observation.cam_azure_kinect_left.intrinsics array 2D | observation.cam_azure_kinect_left.extrinsics array 2D | timestamp float32 0 9.8 | frame_index int64 0 147 | episode_index int64 0 99 | index int64 0 11.2k | 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": "v2.1",
"robot_type": null,
"total_episodes": 100,
"total_frames": 11200,
"total_tasks": 1,
"total_videos": 700,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
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"shape": [
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],
"names": [
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"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7",
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},
"observation.state": {
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],
"names": [
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"joint_2",
"joint_3",
"joint_4",
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},
"observation.right_eef_pose": {
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"shape": [
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"names": [
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"rot_6d_1",
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"rot_6d_3",
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"rot_6d_5",
"trans_0",
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},
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},
"observation.images.cam_azure_kinect_left.transformed_depth": {
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1
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"names": [
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"info": "Transformed depth image aligned to color"
},
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"names": [
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},
"observation.images.cam_azure_kinect_front.color": {
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"names": [
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},
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},
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"rows",
"cols"
],
"info": "Camera extrinsic matrix (T_world_cam)"
},
"observation.images.cam_wrist": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"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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