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action list | observation.state list | observation.right_eef_pose list | action.right_eef_pose list | timestamp float32 0 41.6 | frame_index int64 0 624 | episode_index int64 0 49 | index int64 0 23k | task_index int64 0 0 | observation.points.gripper_pcds listlengths 500 500 | next_event_idx int32 96 624 |
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[90.0,191.25,191.25,170.771484375,170.859375,5.44921875,18.369140625,-1.23046875,10.205479621887207,(...TRUNCATED) | [90.0,190.634765625,190.283203125,172.08984375,172.353515625,5.361328125,18.80859375,-1.142578125,10(...TRUNCATED) | [-0.9850373268127441,-0.1243465319275856,-0.11932883411645889,0.12332376837730408,-0.992238342761993(...TRUNCATED) | [-0.9885644316673279,-0.11806231737136841,-0.09381723403930664,0.11768205463886261,-0.99300497770309(...TRUNCATED) | 0.466667 | 7 | 0 | 7 | 0 | [[0.14413651823997498,-0.19879980385303497,0.9183598756790161],[0.22255167365074158,-0.1851733028888(...TRUNCATED) | 125 |
[89.912109375,191.25,191.25,170.771484375,170.771484375,5.44921875,18.369140625,-1.23046875,10.20547(...TRUNCATED) | [90.0,190.634765625,190.283203125,172.08984375,172.44140625,5.361328125,18.720703125,-1.142578125,10(...TRUNCATED) | [-0.9850558042526245,-0.12279228121042252,-0.12077697366476059,0.12158110737800598,-0.99242943525314(...TRUNCATED) | [-0.9883827567100525,-0.11958543956279755,-0.09380240738391876,0.11919835954904556,-0.99282270669937(...TRUNCATED) | 0.533333 | 8 | 0 | 8 | 0 | [[0.1443149447441101,-0.19847655296325684,0.9184244275093079],[0.22276082634925842,-0.18504369258880(...TRUNCATED) | 125 |
[90.0,191.25,191.25,170.859375,170.771484375,5.44921875,18.369140625,-1.23046875,10.205479621887207,(...TRUNCATED) | [90.0,190.634765625,190.283203125,172.08984375,172.44140625,5.361328125,18.720703125,-1.142578125,10(...TRUNCATED) | [-0.9852777719497681,-0.12244987487792969,-0.11930504441261292,0.12126199156045914,-0.99247163534164(...TRUNCATED) | [-0.988418698310852,-0.11805983632802963,-0.09534340351819992,0.11767713725566864,-0.993005037307739(...TRUNCATED) | 0.6 | 9 | 0 | 9 | 0 | [[0.14432072639465332,-0.19858254492282867,0.9182330965995789],[0.22278329730033875,-0.1851495206356(...TRUNCATED) | 125 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 50,
"total_frames": 23011,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:50"
},
"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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"names": [
"left_waist",
"left_shoulder",
"left_shoulder_shadow",
"left_elbow",
"left_elbow_shadow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_shoulder_shadow",
"right_elbow",
"right_elbow_shadow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
18
],
"names": [
"left_waist",
"left_shoulder",
"left_shoulder_shadow",
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"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_shoulder_shadow",
"right_elbow",
"right_elbow_shadow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
},
"observation.right_eef_pose": {
"dtype": "float32",
"shape": [
10
],
"names": [
"rot_6d_0",
"rot_6d_1",
"rot_6d_2",
"rot_6d_3",
"rot_6d_4",
"rot_6d_5",
"trans_0",
"trans_1",
"trans_2",
"gripper_articulation"
]
},
"action.right_eef_pose": {
"dtype": "float32",
"shape": [
10
],
"names": [
"rot_6d_0",
"rot_6d_1",
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"rot_6d_3",
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"rot_6d_5",
"trans_0",
"trans_1",
"trans_2",
"gripper_articulation"
]
},
"observation.images.cam_azure_kinect.transformed_depth": {
"dtype": "video",
"shape": [
720,
1280,
1
],
"names": [
"height",
"width",
"channels"
],
"info": "Transformed depth image aligned to color"
},
"observation.images.cam_azure_kinect.color": {
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"shape": [
720,
1280,
3
],
"names": [
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],
"info": "Raw color image"
},
"observation.images.cam_wrist": {
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720,
1280,
3
],
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"width",
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],
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},
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1
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},
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},
"observation.images.cam_azure_kinect.goal_gripper_proj": {
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"shape": [
720,
1280,
3
],
"names": [
"height",
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],
"info": "Projection of gripper pcd at goal position onto image"
},
"observation.points.gripper_pcds": {
"dtype": "pcd",
"shape": [
-1,
3
],
"names": [
"N",
"channels"
],
"info": "Raw gripper point cloud at current position"
},
"next_event_idx": {
"dtype": "int32",
"shape": [
1
],
"names": [
"idx"
],
"info": "Index of next event in the dataset"
}
}
}
Citation
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