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observation.state list | action list | observation.depth.front array 2D | observation.camera_ts_ns.front.rgb int64 | observation.camera_ts_ns.front.depth int64 | observation.depth.right array 2D | observation.camera_ts_ns.right.rgb int64 | observation.camera_ts_ns.right.depth int64 | observation.depth.left array 2D | observation.camera_ts_ns.left.rgb int64 | observation.camera_ts_ns.left.depth int64 | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...TRUNCATED) | [2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...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) | 1,780,078,398,390,297,300 | 1,780,078,398,453,759,200 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | 1,780,078,398,320,610,000 | 1,780,078,398,356,153,900 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | 1,780,078,398,442,788,400 | 1,780,078,398,383,968,800 | 0 | 0 | 0 | 0 | 0 |
[2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...TRUNCATED) | [2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...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) | 1,780,078,398,390,297,300 | 1,780,078,398,453,759,200 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | 1,780,078,398,460,798,500 | 1,780,078,398,460,798,500 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | 1,780,078,398,442,788,400 | 1,780,078,398,383,968,800 | 0.1 | 1 | 0 | 1 | 0 |
[2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...TRUNCATED) | [2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...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) | 1,780,078,398,390,297,300 | 1,780,078,398,453,759,200 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | 1,780,078,398,460,798,500 | 1,780,078,398,460,798,500 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | 1,780,078,398,858,414,300 | 1,780,078,398,383,968,800 | 0.2 | 2 | 0 | 2 | 0 |
[2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...TRUNCATED) | [2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...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) | 1,780,078,398,998,011,600 | 1,780,078,399,068,497,200 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | 1,780,078,399,005,807,600 | 1,780,078,399,005,807,600 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1484,1484,0,1474(...TRUNCATED) | 1,780,078,399,021,314,800 | 1,780,078,399,021,314,800 | 0.3 | 3 | 0 | 3 | 0 |
[2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...TRUNCATED) | [2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...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) | 1,780,078,399,117,596,000 | 1,780,078,399,175,969,500 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | 1,780,078,399,128,600,800 | 1,780,078,399,077,076,700 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1481,1481,1477,1477,(...TRUNCATED) | 1,780,078,399,167,906,600 | 1,780,078,399,105,877,200 | 0.4 | 4 | 0 | 4 | 0 |
[2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...TRUNCATED) | [2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...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) | 1,780,078,399,246,126,600 | 1,780,078,399,246,126,600 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | 1,780,078,399,259,270,100 | 1,780,078,399,259,270,100 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1470,1470,1460,1460,(...TRUNCATED) | 1,780,078,399,167,906,600 | 1,780,078,399,265,735,000 | 0.5 | 5 | 0 | 5 | 0 |
[2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...TRUNCATED) | [2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...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) | 1,780,078,399,361,764,900 | 1,780,078,399,315,583,700 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | 1,780,078,399,369,323,000 | 1,780,078,399,327,890,200 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1499,1499,1502,1495,14(...TRUNCATED) | 1,780,078,399,302,045,700 | 1,780,078,399,347,309,600 | 0.6 | 6 | 0 | 6 | 0 |
[2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...TRUNCATED) | [2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...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) | 1,780,078,399,361,764,900 | 1,780,078,399,421,571,600 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | 1,780,078,399,369,323,000 | 1,780,078,399,430,248,000 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1492,1492,0,1488(...TRUNCATED) | 1,780,078,399,407,528,400 | 1,780,078,399,442,890,200 | 0.7 | 7 | 0 | 7 | 0 |
[2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...TRUNCATED) | [2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...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) | 1,780,078,399,492,461,300 | 1,780,078,399,569,148,700 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | 1,780,078,399,501,954,800 | 1,780,078,399,575,861,800 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1474,1470,1470,1(...TRUNCATED) | 1,780,078,399,527,940,600 | 1,780,078,399,527,940,600 | 0.8 | 8 | 0 | 8 | 0 |
[2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...TRUNCATED) | [2.566314697265625,0.051050879061222076,-0.051975905895233154,-1.1250218152999878,1.1688295602798462(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2859,2859,2859,2859,2859,2859,2859,2787,2787,2787,2718,2685,2621,256(...TRUNCATED) | 1,780,078,399,603,478,000 | 1,780,078,399,657,577,200 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | 1,780,078,399,615,720,000 | 1,780,078,399,670,697,200 | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1517,1506,1506,1(...TRUNCATED) | 1,780,078,399,649,611,300 | 1,780,078,399,649,611,300 | 0.9 | 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": "agilex_piper_bimanual",
"total_episodes": 5,
"total_frames": 755,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"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": [
14
],
"names": {
"motors": [
"right_joint1",
"right_joint2",
"right_joint3",
"right_joint4",
"right_joint5",
"right_joint6",
"left_joint1",
"left_joint2",
"left_joint3",
"left_joint4",
"left_joint5",
"left_joint6",
"right_gripper",
"left_gripper"
]
}
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": {
"motors": [
"right_joint1",
"right_joint2",
"right_joint3",
"right_joint4",
"right_joint5",
"right_joint6",
"left_joint1",
"left_joint2",
"left_joint3",
"left_joint4",
"left_joint5",
"left_joint6",
"right_gripper",
"left_gripper"
]
}
},
"observation.images.front": {
"dtype": "video",
"shape": [
640,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 640,
"video.width": 480,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.depth.front": {
"dtype": "uint16",
"shape": [
640,
480
]
},
"observation.camera_ts_ns.front.rgb": {
"dtype": "int64",
"shape": [
1
]
},
"observation.camera_ts_ns.front.depth": {
"dtype": "int64",
"shape": [
1
]
},
"observation.images.right": {
"dtype": "video",
"shape": [
640,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 640,
"video.width": 480,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.depth.right": {
"dtype": "uint16",
"shape": [
640,
480
]
},
"observation.camera_ts_ns.right.rgb": {
"dtype": "int64",
"shape": [
1
]
},
"observation.camera_ts_ns.right.depth": {
"dtype": "int64",
"shape": [
1
]
},
"observation.images.left": {
"dtype": "video",
"shape": [
640,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 640,
"video.width": 480,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.depth.left": {
"dtype": "uint16",
"shape": [
640,
480
]
},
"observation.camera_ts_ns.left.rgb": {
"dtype": "int64",
"shape": [
1
]
},
"observation.camera_ts_ns.left.depth": {
"dtype": "int64",
"shape": [
1
]
},
"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
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