Datasets:
action list | observation.state list | observation.right_eef_pose list | action.right_eef_pose list | timestamp float32 0 30.1 | frame_index int64 0 451 | episode_index int64 0 49 | index int64 0 19.6k | task_index int64 0 0 | observation.points.gripper_pcds listlengths 778 778 | next_event_idx int32 118 451 | subgoal stringclasses 3
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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": 50,
"total_frames": 19564,
"total_tasks": 1,
"total_videos": 150,
"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": {
"action": {
"dtype": "float32",
"shape": [
18
],
"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",
"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.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",
"rot_6d_2",
"rot_6d_3",
"rot_6d_4",
"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": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "Raw color image"
},
"timestamp": {
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1
],
"names": null
},
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],
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},
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],
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},
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},
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],
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},
"observation.images.cam_azure_kinect.goal_gripper_proj": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"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"
},
"subgoal": {
"dtype": "string",
"shape": [
1
],
"names": [
"subgoal"
],
"info": "Caption for subgoal in dataset"
}
}
}
Citation
BibTeX:
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