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timestamp
float32
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12.3
frame_index
int64
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368
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6.65k
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[ -0.2592785656452179, -0.1261860430240631, -0.957523763179779, 0.04573735222220421, -0.9919199347496033, 0.11833412945270538, 0.007529568858444691, -0.055582329630851746, 0.05230014771223068, 97.67904663085938 ]
3.233333
97
0
97
0
[ 89.912109375, 191.25, 191.337890625, 170.419921875, 170.419921875, 3.8671875, 18.80859375, -0.263671875, 3.972602605819702, 83.408203125, 74.443359375, 74.443359375, 105.46875, 105.46875, -5.888671875, 44.6484375, 17.578125, 96.88329315185547 ]
[ 89.82421875, 192.65625, 192.744140625, 171.474609375, 171.650390625, 4.04296875, 19.16015625, -0.263671875, 3.9927403926849365, 83.3203125, 73.916015625, 74.091796875, 105.732421875, 105.99609375, -6.591796875, 44.912109375, 17.841796875, 97.38837432861328 ]
[ -0.2417280673980713, -0.12536868453025818, -0.9622111320495605, 0.05329190939664841, -0.9918371438980103, 0.11584065109491348, 0.011248091235756874, -0.05465290695428848, 0.047141339629888535, 97.38837432861328 ]
[ -0.257167786359787, -0.12864656746387482, -0.957765519618988, 0.04286150261759758, -0.9916425347328186, 0.12168824672698975, 0.008354638703167439, -0.056120287626981735, 0.05233442410826683, 96.88329315185547 ]
3.266667
98
0
98
0
[ 89.912109375, 191.25, 191.25, 170.5078125, 170.419921875, 3.8671875, 18.80859375, -0.263671875, 3.972602605819702, 83.408203125, 74.53125, 74.53125, 105.556640625, 105.556640625, -5.712890625, 44.6484375, 17.578125, 95.75597381591797 ]
[ 89.82421875, 192.65625, 192.744140625, 171.38671875, 171.650390625, 3.955078125, 19.072265625, -0.263671875, 3.9927403926849365, 83.3203125, 74.00390625, 74.091796875, 105.732421875, 105.99609375, -6.328125, 44.912109375, 17.841796875, 96.63016510009766 ]
[ -0.24252818524837494, -0.12778478860855103, -0.9616917967796326, 0.04994770139455795, -0.9916173219680786, 0.11916486918926239, 0.011248371563851833, -0.05531192943453789, 0.047705117613077164, 96.63016510009766 ]
[ -0.25670066475868225, -0.1302078813314438, -0.957679808139801, 0.0407562255859375, -0.9914603233337402, 0.12387626618146896, 0.00885066483169794, -0.05650079995393753, 0.05245908349752426, 95.75597381591797 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "aloha",
    "total_episodes": 20,
    "total_frames": 10286,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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_back.transformed_depth": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                1
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": "Transformed depth image aligned to color"
        },
        "observation.images.cam_azure_kinect_back.color": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": "Raw color image"
        },
        "observation.images.cam_azure_kinect_front.transformed_depth": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                1
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": "Transformed depth image aligned to color"
        },
        "observation.images.cam_azure_kinect_front.color": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": "Raw color image"
        },
        "observation.images.cam_wrist": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": "RGB color image"
        },
        "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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