Datasets:
action list | observation.state list | observation.right_eef_pose list | action.right_eef_pose list | timestamp float32 0 45.7 | frame_index int64 0 686 | episode_index int64 0 24 | index int64 0 15.5k | task_index int64 0 0 | embodiment stringclasses 1
value | observation.points.gripper_pcds listlengths 500 500 | next_event_idx int32 81 686 | observation.cam_azure_kinect_front.intrinsics array 2D | observation.cam_azure_kinect_front.extrinsics array 2D | observation.cam_azure_kinect_back.intrinsics array 2D | observation.cam_azure_kinect_back.extrinsics array 2D |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
89.560546875,
191.25,
191.25,
170.419921875,
170.419921875,
3.1640625,
18.720703125,
0.439453125,
10.068492889404297,
90.615234375,
196.69921875,
196.611328125,
172.96875,
173.056640625,
0.17578125,
21.62109375,
-0.087890625,
74.46949768066406
] | [
89.47265625,
192.919921875,
193.18359375,
171.5625,
171.73828125,
3.1640625,
19.072265625,
0.439453125,
10.072595596313477,
90.703125,
196.875,
196.875,
174.287109375,
174.375,
0.263671875,
21.97265625,
-0.087890625,
74.47346496582031
] | [
-0.9891583323478699,
-0.010968632996082306,
-0.14644289016723633,
0.01041731983423233,
-0.9999354481697083,
0.004531093407422304,
0.2655269503593445,
-0.017100511118769646,
0.18319818377494812,
74.47346496582031
] | [
-0.9926778674125671,
-0.009774118661880493,
-0.12039588391780853,
0.009529056958854198,
-0.999951183795929,
0.002611031522974372,
0.2661702334880829,
-0.01726650632917881,
0.19512934982776642,
74.46949768066406
] | 0 | 0 | 0 | 0 | 0 | aloha | [
[
0.32581135630607605,
0.015632489696145058,
0.18114499747753143
],
[
0.348005473613739,
-0.055439528077840805,
0.1900903582572937
],
[
0.30437782406806946,
-0.06633470952510834,
0.2127324789762497
],
[
0.31958964467048645,
0.02672782726585865,
0.216454818... | 84 | [
[
608.3449096679688,
0,
639.0567016601562
],
[
0,
608.4014892578125,
364.60748291015625
],
[
0,
0,
1
]
] | [
[
0.9970543384552002,
-0.05339018255472183,
-0.05503981187939644,
0.09999275952577591
],
[
-0.010856475681066513,
-0.8088378310203552,
0.587929368019104,
-0.3289794325828552
],
[
-0.07590803503990173,
-0.5856006145477295,
-0.8070361614227295,
0.662841677665710... | [
[
611.1693115234375,
0,
638.8131713867188
],
[
0,
611.1657104492188,
367.74871826171875
],
[
0,
0,
1
]
] | [
[
-0.9995994567871094,
0.025723235681653023,
-0.0117112435400486,
-0.13995361328125
],
[
0.028176182880997658,
0.9395263195037842,
-0.34130892157554626,
0.3160402178764343
],
[
0.0022234783973544836,
-0.34150633215904236,
-0.9398653507232666,
0.739501953125
... |
[
89.560546875,
191.25,
191.25,
170.33203125,
170.419921875,
3.251953125,
18.720703125,
0.52734375,
10.068492889404297,
90.615234375,
196.611328125,
196.611328125,
172.96875,
173.056640625,
0.17578125,
21.62109375,
-0.087890625,
74.46949768066406
] | [
89.47265625,
192.919921875,
193.18359375,
171.5625,
171.73828125,
3.1640625,
19.072265625,
0.439453125,
10.072595596313477,
90.615234375,
196.875,
196.875,
174.287109375,
174.375,
0.17578125,
21.97265625,
-0.087890625,
74.47346496582031
] | [
-0.9891674518585205,
-0.009794134646654129,
-0.14646422863006592,
0.009473882615566254,
-0.9999509453773499,
0.0028839679434895515,
0.2655254304409027,
-0.017263052985072136,
0.1831977516412735,
74.47346496582031
] | [
-0.9925059080123901,
-0.009776170365512371,
-0.12180513143539429,
0.00952721107751131,
-0.999951183795929,
0.002626164350658655,
0.2660737633705139,
-0.01726546883583069,
0.19486969709396362,
74.46949768066406
] | 0.066667 | 1 | 0 | 1 | 0 | aloha | [
[
0.32577139139175415,
0.015543761663138866,
0.1811944544315338
],
[
0.3480488061904907,
-0.05551539734005928,
0.19003422558307648
],
[
0.3044336438179016,
-0.06649556756019592,
0.2126592993736267
],
[
0.3195360600948334,
0.02657911740243435,
0.21652068197... | 84 | [
[
608.3449096679688,
0,
639.0567016601562
],
[
0,
608.4014892578125,
364.60748291015625
],
[
0,
0,
1
]
] | [
[
0.9970543384552002,
-0.05339018255472183,
-0.05503981187939644,
0.09999275952577591
],
[
-0.010856475681066513,
-0.8088378310203552,
0.587929368019104,
-0.3289794325828552
],
[
-0.07590803503990173,
-0.5856006145477295,
-0.8070361614227295,
0.662841677665710... | [
[
611.1693115234375,
0,
638.8131713867188
],
[
0,
611.1657104492188,
367.74871826171875
],
[
0,
0,
1
]
] | [
[
-0.9995994567871094,
0.025723235681653023,
-0.0117112435400486,
-0.13995361328125
],
[
0.028176182880997658,
0.9395263195037842,
-0.34130892157554626,
0.3160402178764343
],
[
0.0022234783973544836,
-0.34150633215904236,
-0.9398653507232666,
0.739501953125
... |
[
89.560546875,
191.25,
191.25,
170.419921875,
170.33203125,
3.1640625,
18.720703125,
0.439453125,
10.068492889404297,
90.615234375,
196.611328125,
196.5234375,
172.96875,
173.056640625,
0.17578125,
21.62109375,
-0.087890625,
74.46949768066406
] | [
89.47265625,
192.919921875,
193.18359375,
171.5625,
171.73828125,
3.251953125,
19.072265625,
0.439453125,
10.072595596313477,
90.703125,
196.962890625,
196.962890625,
174.287109375,
174.375,
0.17578125,
21.884765625,
-0.087890625,
74.47346496582031
] | [
-0.9895800948143005,
-0.011328281834721565,
-0.14353731274604797,
0.0110008604824543,
-0.999934732913971,
0.003074532374739647,
0.26555946469306946,
-0.01698112301528454,
0.18376071751117706,
74.47346496582031
] | [
-0.9925059080123901,
-0.009776170365512371,
-0.12180513143539429,
0.00952721107751131,
-0.999951183795929,
0.002626164350658655,
0.2660737633705139,
-0.01726546883583069,
0.19486969709396362,
74.46949768066406
] | 0.133333 | 2 | 0 | 2 | 0 | aloha | [
[
0.32584962248802185,
0.015733033418655396,
0.18158049881458282
],
[
0.3480437099933624,
-0.05536062642931938,
0.19035226106643677
],
[
0.3044787049293518,
-0.0662744790315628,
0.2131057232618332
],
[
0.31973564624786377,
0.02677672728896141,
0.2169253230... | 84 | [
[
608.3449096679688,
0,
639.0567016601562
],
[
0,
608.4014892578125,
364.60748291015625
],
[
0,
0,
1
]
] | [
[
0.9970543384552002,
-0.05339018255472183,
-0.05503981187939644,
0.09999275952577591
],
[
-0.010856475681066513,
-0.8088378310203552,
0.587929368019104,
-0.3289794325828552
],
[
-0.07590803503990173,
-0.5856006145477295,
-0.8070361614227295,
0.662841677665710... | [
[
611.1693115234375,
0,
638.8131713867188
],
[
0,
611.1657104492188,
367.74871826171875
],
[
0,
0,
1
]
] | [
[
-0.9995994567871094,
0.025723235681653023,
-0.0117112435400486,
-0.13995361328125
],
[
0.028176182880997658,
0.9395263195037842,
-0.34130892157554626,
0.3160402178764343
],
[
0.0022234783973544836,
-0.34150633215904236,
-0.9398653507232666,
0.739501953125
... |
[
89.560546875,
191.25,
191.25,
170.33203125,
170.33203125,
3.1640625,
18.720703125,
0.439453125,
10.068492889404297,
90.615234375,
196.611328125,
196.611328125,
172.96875,
173.056640625,
0.17578125,
21.62109375,
-0.087890625,
74.46949768066406
] | [
89.384765625,
192.919921875,
193.18359375,
171.5625,
171.826171875,
3.251953125,
19.072265625,
0.439453125,
10.072595596313477,
90.615234375,
196.962890625,
196.875,
174.287109375,
174.375,
0.17578125,
21.884765625,
-0.087890625,
74.47346496582031
] | [
-0.9895957708358765,
-0.009794384241104126,
-0.1435418576002121,
0.009482847526669502,
-0.9999509453773499,
0.0028543449006974697,
0.26555657386779785,
-0.017262520268559456,
0.18376071751117706,
74.47346496582031
] | [
-0.9925059080123901,
-0.009776170365512371,
-0.12180513143539429,
0.00952721107751131,
-0.999951183795929,
0.002626164350658655,
0.2660737633705139,
-0.01726546883583069,
0.19486969709396362,
74.46949768066406
] | 0.2 | 3 | 0 | 3 | 0 | aloha | [
[
0.3257964849472046,
0.015544082038104534,
0.18158049881458282
],
[
0.34809958934783936,
-0.05551544949412346,
0.19035226106643677
],
[
0.3045513927936554,
-0.0664961189031601,
0.2131057232618332
],
[
0.3196655809879303,
0.0265783853828907,
0.216925323009... | 84 | [
[
608.3449096679688,
0,
639.0567016601562
],
[
0,
608.4014892578125,
364.60748291015625
],
[
0,
0,
1
]
] | [
[
0.9970543384552002,
-0.05339018255472183,
-0.05503981187939644,
0.09999275952577591
],
[
-0.010856475681066513,
-0.8088378310203552,
0.587929368019104,
-0.3289794325828552
],
[
-0.07590803503990173,
-0.5856006145477295,
-0.8070361614227295,
0.662841677665710... | [
[
611.1693115234375,
0,
638.8131713867188
],
[
0,
611.1657104492188,
367.74871826171875
],
[
0,
0,
1
]
] | [
[
-0.9995994567871094,
0.025723235681653023,
-0.0117112435400486,
-0.13995361328125
],
[
0.028176182880997658,
0.9395263195037842,
-0.34130892157554626,
0.3160402178764343
],
[
0.0022234783973544836,
-0.34150633215904236,
-0.9398653507232666,
0.739501953125
... |
[
89.560546875,
191.25,
191.337890625,
170.419921875,
170.33203125,
3.1640625,
18.720703125,
0.439453125,
10.068492889404297,
90.615234375,
196.69921875,
196.611328125,
172.96875,
173.056640625,
0.17578125,
21.62109375,
-0.087890625,
74.53581237792969
] | [
89.47265625,
192.919921875,
193.271484375,
171.5625,
171.826171875,
3.251953125,
19.072265625,
0.439453125,
10.072595596313477,
90.703125,
196.962890625,
196.875,
174.287109375,
174.375,
0.263671875,
21.97265625,
-0.087890625,
74.47346496582031
] | [
-0.98936527967453,
-0.010964436456561089,
-0.1450383961200714,
0.010419859550893307,
-0.999935507774353,
0.004513856489211321,
0.2656068503856659,
-0.01710149273276329,
0.18345864117145538,
74.47346496582031
] | [
-0.9926778674125671,
-0.009774118661880493,
-0.12039588391780853,
0.009529056958854198,
-0.999951183795929,
0.002611031522974372,
0.2661702334880829,
-0.01726650632917881,
0.19512934982776642,
74.53581237792969
] | 0.266667 | 4 | 0 | 4 | 0 | aloha | [
[
0.3258882761001587,
0.015631545335054398,
0.1813204288482666
],
[
0.3480950593948364,
-0.05544062703847885,
0.1902330368757248
],
[
0.30449962615966797,
-0.06633620709180832,
0.2129368931055069
],
[
0.3197167217731476,
0.026726268231868744,
0.21663925051... | 84 | [
[
608.3449096679688,
0,
639.0567016601562
],
[
0,
608.4014892578125,
364.60748291015625
],
[
0,
0,
1
]
] | [
[
0.9970543384552002,
-0.05339018255472183,
-0.05503981187939644,
0.09999275952577591
],
[
-0.010856475681066513,
-0.8088378310203552,
0.587929368019104,
-0.3289794325828552
],
[
-0.07590803503990173,
-0.5856006145477295,
-0.8070361614227295,
0.662841677665710... | [
[
611.1693115234375,
0,
638.8131713867188
],
[
0,
611.1657104492188,
367.74871826171875
],
[
0,
0,
1
]
] | [
[
-0.9995994567871094,
0.025723235681653023,
-0.0117112435400486,
-0.13995361328125
],
[
0.028176182880997658,
0.9395263195037842,
-0.34130892157554626,
0.3160402178764343
],
[
0.0022234783973544836,
-0.34150633215904236,
-0.9398653507232666,
0.739501953125
... |
[89.560546875,191.25,191.25,170.33203125,170.419921875,3.1640625,18.720703125,0.52734375,10.06849288(...TRUNCATED) | [89.47265625,192.919921875,193.18359375,171.5625,171.73828125,3.1640625,19.072265625,0.439453125,10.(...TRUNCATED) | [-0.9895800948143005,-0.011328281834721565,-0.14353731274604797,0.0110008604824543,-0.99993473291397(...TRUNCATED) | [-0.9925059080123901,-0.009776170365512371,-0.12180513143539429,0.00952721107751131,-0.9999511837959(...TRUNCATED) | 0.333333 | 5 | 0 | 5 | 0 | aloha | [[0.3258500099182129,0.01576586253941059,0.18158042430877686],[0.3480437099933624,-0.055360626429319(...TRUNCATED) | 84 | [
[
608.3449096679688,
0,
639.0567016601562
],
[
0,
608.4014892578125,
364.60748291015625
],
[
0,
0,
1
]
] | [[0.9970543384552002,-0.05339018255472183,-0.05503981187939644,0.09999275952577591],[-0.010856475681(...TRUNCATED) | [
[
611.1693115234375,
0,
638.8131713867188
],
[
0,
611.1657104492188,
367.74871826171875
],
[
0,
0,
1
]
] | [[-0.9995994567871094,0.025723235681653023,-0.0117112435400486,-0.13995361328125],[0.028176182880997(...TRUNCATED) |
[89.560546875,191.25,191.25,170.419921875,170.419921875,3.1640625,18.720703125,0.52734375,10.0684928(...TRUNCATED) | [89.47265625,192.919921875,193.18359375,171.5625,171.826171875,3.251953125,19.072265625,0.439453125,(...TRUNCATED) | [-0.9895957708358765,-0.009794384241104126,-0.1435418576002121,0.009482847526669502,-0.9999509453773(...TRUNCATED) | [-0.9925059080123901,-0.009776170365512371,-0.12180513143539429,0.00952721107751131,-0.9999511837959(...TRUNCATED) | 0.4 | 6 | 0 | 6 | 0 | aloha | [[0.3257964849472046,0.015544082038104534,0.18158049881458282],[0.34809958934783936,-0.0555154494941(...TRUNCATED) | 84 | [
[
608.3449096679688,
0,
639.0567016601562
],
[
0,
608.4014892578125,
364.60748291015625
],
[
0,
0,
1
]
] | [[0.9970543384552002,-0.05339018255472183,-0.05503981187939644,0.09999275952577591],[-0.010856475681(...TRUNCATED) | [
[
611.1693115234375,
0,
638.8131713867188
],
[
0,
611.1657104492188,
367.74871826171875
],
[
0,
0,
1
]
] | [[-0.9995994567871094,0.025723235681653023,-0.0117112435400486,-0.13995361328125],[0.028176182880997(...TRUNCATED) |
[89.560546875,191.25,191.337890625,170.419921875,170.419921875,3.1640625,18.720703125,0.439453125,10(...TRUNCATED) | [89.47265625,192.919921875,193.18359375,171.5625,171.73828125,3.1640625,19.072265625,0.439453125,10.(...TRUNCATED) | [-0.9893587231636047,-0.011325953528285027,-0.1450551152229309,0.010993778705596924,-0.9999347925186(...TRUNCATED) | [-0.9925059080123901,-0.009776170365512371,-0.12180513143539429,0.00952721107751131,-0.9999511837959(...TRUNCATED) | 0.466667 | 7 | 0 | 7 | 0 | aloha | [[0.32590150833129883,0.015731805935502052,0.18136988580226898],[0.34808242321014404,-0.055361595004(...TRUNCATED) | 84 | [
[
608.3449096679688,
0,
639.0567016601562
],
[
0,
608.4014892578125,
364.60748291015625
],
[
0,
0,
1
]
] | [[0.9970543384552002,-0.05339018255472183,-0.05503981187939644,0.09999275952577591],[-0.010856475681(...TRUNCATED) | [
[
611.1693115234375,
0,
638.8131713867188
],
[
0,
611.1657104492188,
367.74871826171875
],
[
0,
0,
1
]
] | [[-0.9995994567871094,0.025723235681653023,-0.0117112435400486,-0.13995361328125],[0.028176182880997(...TRUNCATED) |
[89.560546875,191.25,191.25,170.419921875,170.419921875,3.1640625,18.720703125,0.439453125,10.068492(...TRUNCATED) | [89.47265625,192.919921875,193.18359375,171.5625,171.73828125,3.251953125,19.072265625,0.439453125,1(...TRUNCATED) | [-0.9895800948143005,-0.011328281834721565,-0.14353731274604797,0.0110008604824543,-0.99993473291397(...TRUNCATED) | [-0.9928590655326843,-0.011132558807730675,-0.11877267807722092,0.011062972247600555,-0.999938011169(...TRUNCATED) | 0.533333 | 8 | 0 | 8 | 0 | aloha | [[0.32584962248802185,0.015733033418655396,0.18158049881458282],[0.3480437099933624,-0.0553606264293(...TRUNCATED) | 84 | [
[
608.3449096679688,
0,
639.0567016601562
],
[
0,
608.4014892578125,
364.60748291015625
],
[
0,
0,
1
]
] | [[0.9970543384552002,-0.05339018255472183,-0.05503981187939644,0.09999275952577591],[-0.010856475681(...TRUNCATED) | [
[
611.1693115234375,
0,
638.8131713867188
],
[
0,
611.1657104492188,
367.74871826171875
],
[
0,
0,
1
]
] | [[-0.9995994567871094,0.025723235681653023,-0.0117112435400486,-0.13995361328125],[0.028176182880997(...TRUNCATED) |
[89.560546875,191.25,191.25,170.419921875,170.419921875,3.1640625,18.720703125,0.52734375,10.0684928(...TRUNCATED) | [89.47265625,192.919921875,193.18359375,171.5625,171.73828125,3.251953125,19.072265625,0.439453125,1(...TRUNCATED) | [-0.9900221824645996,-0.010971423238515854,-0.14048388600349426,0.010447580367326736,-0.999935448169(...TRUNCATED) | [-0.9947211742401123,-0.011496895924210548,-0.10196857899427414,0.01113416999578476,-0.9999294877052(...TRUNCATED) | 0.6 | 9 | 0 | 9 | 0 | aloha | [[0.32573360204696655,0.015636103227734566,0.1819525510072708],[0.34797969460487366,-0.0554369837045(...TRUNCATED) | 84 | [
[
608.3449096679688,
0,
639.0567016601562
],
[
0,
608.4014892578125,
364.60748291015625
],
[
0,
0,
1
]
] | [[0.9970543384552002,-0.05339018255472183,-0.05503981187939644,0.09999275952577591],[-0.010856475681(...TRUNCATED) | [
[
611.1693115234375,
0,
638.8131713867188
],
[
0,
611.1657104492188,
367.74871826171875
],
[
0,
0,
1
]
] | [[-0.9995994567871094,0.025723235681653023,-0.0117112435400486,-0.13995361328125],[0.028176182880997(...TRUNCATED) |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 25,
"total_frames": 15467,
"total_tasks": 1,
"total_videos": 175,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:25"
},
"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
},
"embodiment": {
"dtype": "string",
"shape": [
1
],
"names": [
"embodiment"
],
"info": "Name of embodiment"
},
"observation.images.cam_azure_kinect_front.goal_gripper_proj": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "Projection of gripper pcd at goal position onto image"
},
"observation.images.cam_azure_kinect_back.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"
},
"observation.cam_azure_kinect_front.intrinsics": {
"dtype": "float32",
"shape": [
3,
3
],
"names": [
"rows",
"cols"
],
"info": "Camera intrinsic matrix (K)"
},
"observation.cam_azure_kinect_front.extrinsics": {
"dtype": "float32",
"shape": [
4,
4
],
"names": [
"rows",
"cols"
],
"info": "Camera extrinsic matrix (T_world_cam)"
},
"observation.cam_azure_kinect_back.intrinsics": {
"dtype": "float32",
"shape": [
3,
3
],
"names": [
"rows",
"cols"
],
"info": "Camera intrinsic matrix (K)"
},
"observation.cam_azure_kinect_back.extrinsics": {
"dtype": "float32",
"shape": [
4,
4
],
"names": [
"rows",
"cols"
],
"info": "Camera extrinsic matrix (T_world_cam)"
}
}
}
Citation
BibTeX:
[More Information Needed]
- Downloads last month
- 6