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action list | observation.state list | timestamp float32 0 38.3 | frame_index int64 0 383 | episode_index int64 0 49 | index int64 0 15.8k | task_index int64 0 0 | wrist_camera.samdino array 2D | side_camera.samdino array 2D |
|---|---|---|---|---|---|---|---|---|
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[0.36665210127830505,-0.38656285405158997,-0.4632622003555298,-1.9462954998016357,-0.127752080559730(...TRUNCATED) | [0.3765178918838501,-0.38795140385627747,-0.47226259112358093,-1.878273367881775,-0.1816641241312027(...TRUNCATED) | 0.9 | 9 | 0 | 9 | 0 | [[2.189453125,-2.40234375,-2.76953125,0.0150146484375,1.9697265625,1.390625,11.0390625,-1.54296875,1(...TRUNCATED) | [[5.11328125,-3.298828125,0.4384765625,6.02734375,-2.21484375,-2.88671875,1.8310546875,-1.8310546875(...TRUNCATED) |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "Franka",
"total_episodes": 50,
"total_frames": 15794,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"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": "float64",
"shape": [
8
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper"
]
},
"observation.state": {
"dtype": "float64",
"shape": [
8
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper"
]
},
"observation.images.wrist_camera": {
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
},
"dtype": "video"
},
"observation.images.side_camera": {
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
},
"dtype": "video"
},
"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
},
"wrist_camera.samdino": {
"shape": [
10,
768
],
"names": [
"slots",
"dim_slot"
],
"dtype": "float32"
},
"side_camera.samdino": {
"shape": [
10,
768
],
"names": [
"slots",
"dim_slot"
],
"dtype": "float32"
}
}
}
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