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action list | observation.state list | observation.depth.cam_1 array 2D | observation.intrinsic.cam_1 array 2D | observation.extrinsic.cam_1 array 2D | timestamp float32 0 142 | frame_index int64 0 1.42k | episode_index int64 0 12 | index int64 0 9.38k | task_index int64 0 12 |
|---|---|---|---|---|---|---|---|---|---|
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[0.26367878913879395,0.22109797596931458,0.08367899060249329,-2.699136257171631,-0.06105863302946091(...TRUNCATED) | [0.24551603198051453,-0.24184466898441315,1.471980094909668,-0.9926795959472656,9.099528597289464e-8(...TRUNCATED) | [[1.7685546875,1.7685546875,1.7685546875,1.7685546875,1.7685546875,1.7685546875,1.7685546875,1.76855(...TRUNCATED) | [
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[0.27599573135375977,0.1753111183643341,0.06925585865974426,-2.7744688987731934,-0.04346071928739548(...TRUNCATED) | [0.2455792874097824,-0.2418471872806549,1.4720745086669922,-0.9926661849021912,-6.853847935417434e-6(...TRUNCATED) | [[1.748046875,1.748046875,1.748046875,1.748046875,1.748046875,1.748046875,1.748046875,1.748046875,1.(...TRUNCATED) | [
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[-0.7264127731323242,0.41542914509773254,-0.21837851405143738,-2.352743625640869,0.20246970653533936(...TRUNCATED) | [0.2455792874097824,-0.2418471872806549,1.4720745086669922,-0.9926661849021912,-6.853847935417434e-6(...TRUNCATED) | [[0.071044921875,0.071044921875,0.071044921875,0.071044921875,0.071044921875,0.071044921875,0.071044(...TRUNCATED) | [
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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "Franka",
"total_episodes": 13,
"total_frames": 9382,
"total_tasks": 13,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:13"
},
"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": [
8
],
"names": [
"j1",
"j2",
"j3",
"j4",
"j5",
"j6",
"j7",
"gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
15
],
"names": [
"ee_x",
"ee_y",
"ee_z",
"ee_qx",
"ee_qy",
"ee_qz",
"ee_qw",
"j1",
"j2",
"j3",
"j4",
"j5",
"j6",
"j7",
"gripper"
]
},
"observation.images.cam_1": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.depth.cam_1": {
"dtype": "float32",
"shape": [
256,
256
],
"names": "depth_image"
},
"observation.intrinsic.cam_1": {
"dtype": "float32",
"shape": [
3,
3
],
"names": "intrinsic_matrix"
},
"observation.extrinsic.cam_1": {
"dtype": "float32",
"shape": [
4,
4
],
"names": "extrinsic_matrix"
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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