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action list | observation.state list | observation.depth.realsense_main array 2D | timestamp float32 0 7.9 | frame_index int64 0 237 | episode_index int64 0 0 | index int64 0 237 | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
[
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61.875,
59.765625,
98.4375,
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33.884300231933594
] | [
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64.51171875,
68.02734375,
98.26171875,
-57.83203125,
33.510169982910156
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,712,712,714,715,716,718,(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[
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98.525390625,
-58.18359375,
33.884300231933594
] | [
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63.10546875,
65.91796875,
98.26171875,
-58.18359375,
33.510169982910156
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,712,713,714,715,716,719,(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[
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60.908203125,
57.83203125,
98.525390625,
-58.18359375,
33.884300231933594
] | [
-31.904296875,
61.962890625,
63.984375,
98.26171875,
-58.359375,
33.510169982910156
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,713,714,714,714,716,71(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[
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60.908203125,
57.48046875,
98.525390625,
-58.18359375,
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] | [
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62.314453125,
98.26171875,
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] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,714,716,716,717,719,(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[
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] | [
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] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,712,713,714,715,716,717,(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[
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60.908203125,
57.3046875,
98.525390625,
-58.18359375,
33.884300231933594
] | [
-32.255859375,
60.732421875,
60.380859375,
98.26171875,
-57.919921875,
33.510169982910156
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,715,716,716,718,720,(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[
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60.99609375,
57.3046875,
98.525390625,
-58.18359375,
33.884300231933594
] | [
-32.6953125,
60.732421875,
59.94140625,
98.26171875,
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33.510169982910156
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,713,714,715,716,717,0,(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[
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57.3046875,
98.525390625,
-58.18359375,
33.884300231933594
] | [
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98.26171875,
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33.510169982910156
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,713,715,716,717,71(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[
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61.083984375,
57.3046875,
98.61328125,
-58.18359375,
33.884300231933594
] | [
-33.662109375,
60.64453125,
59.4140625,
98.26171875,
-57.919921875,
33.510169982910156
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,710,711,711,712,713,715,71(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[
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61.083984375,
57.3046875,
98.61328125,
-58.18359375,
33.884300231933594
] | [
-34.1015625,
60.64453125,
59.4140625,
98.26171875,
-57.919921875,
33.510169982910156
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,709,711,711,713,715,71(...TRUNCATED) | 0.3 | 9 | 0 | 9 | 0 |
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 1,
"total_frames": 238,
"total_tasks": 1,
"total_videos": 1,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.realsense_main": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.depth.realsense_main": {
"dtype": "uint16",
"shape": [
480,
640
],
"names": [
"height",
"width"
],
"info": null
},
"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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