Dataset Viewer
Auto-converted to Parquet Duplicate
action
list
observation.state
list
observation.right_eef_pose
list
action.right_eef_pose
list
timestamp
float32
0
29.9
frame_index
int64
0
448
episode_index
int64
0
24
index
int64
0
9.62k
task_index
int64
0
0
embodiment
stringclasses
1 value
observation.points.gripper_pcds
listlengths
500
500
next_event_idx
int32
87
448
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
[ 92.197265625, 191.25, 191.25, 171.03515625, 171.03515625, 15.1171875, 18.80859375, -15.1171875, 3.904109477996826, 91.845703125, 197.314453125, 197.314453125, 174.111328125, 174.19921875, -2.548828125, 21.884765625, 2.373046875, 64.92042541503906 ]
[ 92.109375, 192.65625, 192.744140625, 172.177734375, 172.529296875, 15.205078125, 19.072265625, -15.1171875, 3.901996374130249, 91.93359375, 198.45703125, 198.720703125, 175.341796875, 175.60546875, -2.4609375, 22.236328125, 2.28515625, 64.95366668701172 ]
[ -0.9883866906166077, -0.049825675785541534, -0.14355884492397308, 0.049626585096120834, -0.9987554550170898, 0.004969458561390638, 0.26653772592544556, -0.009592879563570023, 0.1780424416065216, 64.95366668701172 ]
[ -0.9897209405899048, -0.04863840714097023, -0.13448694348335266, 0.04847816377878189, -0.9988142251968384, 0.004467935301363468, 0.26622259616851807, -0.009797760285437107, 0.1863713413476944, 64.92042541503906 ]
0
0
0
0
0
aloha
[ [ 0.32785820960998535, 0.017077771946787834, 0.17598366737365723 ], [ 0.34748122096061707, -0.05114419013261795, 0.1845017671585083 ], [ 0.30370786786079407, -0.05675038322806358, 0.2072155475616455 ], [ 0.32216525077819824, 0.028218990191817284, 0.2113681...
126
[ [ 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 ...
[ 92.197265625, 191.25, 191.25, 171.123046875, 171.03515625, 15.1171875, 18.80859375, -15.1171875, 3.904109477996826, 91.93359375, 197.314453125, 197.314453125, 174.0234375, 174.111328125, -2.4609375, 21.884765625, 2.373046875, 64.92042541503906 ]
[ 92.109375, 192.65625, 192.744140625, 172.177734375, 172.44140625, 15.1171875, 19.16015625, -15.1171875, 3.901996374130249, 92.021484375, 198.544921875, 198.720703125, 175.341796875, 175.60546875, -2.4609375, 22.236328125, 2.28515625, 64.95366668701172 ]
[ -0.9885122179985046, -0.05136081576347351, -0.1421467363834381, 0.05114985629916191, -0.9986777901649475, 0.005140102468430996, 0.26662489771842957, -0.009315555915236473, 0.17830175161361694, 64.95366668701172 ]
[ -0.9898759126663208, -0.04979744181036949, -0.13291288912296295, 0.04943254962563515, -0.9987591505050659, 0.006045769900083542, 0.2662988007068634, -0.009637921117246151, 0.18711568415164948, 64.92042541503906 ]
0.066667
1
0
1
0
aloha
[ [ 0.32798323035240173, 0.01726110465824604, 0.17615723609924316 ], [ 0.34751367568969727, -0.050991304218769073, 0.18464422225952148 ], [ 0.3037640452384949, -0.05653148517012596, 0.20741982758045197 ], [ 0.3223575949668884, 0.028409268707036972, 0.2115503...
126
[ [ 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 ...
[ 92.197265625, 191.25, 191.25, 171.123046875, 171.03515625, 15.029296875, 18.80859375, -15.1171875, 3.904109477996826, 91.845703125, 197.314453125, 197.314453125, 174.111328125, 174.111328125, -2.548828125, 21.884765625, 2.373046875, 64.92042541503906 ]
[ 92.109375, 192.65625, 192.744140625, 172.177734375, 172.529296875, 15.1171875, 19.16015625, -15.1171875, 3.901996374130249, 92.021484375, 198.544921875, 198.6328125, 175.341796875, 175.60546875, -2.548828125, 22.236328125, 2.28515625, 64.95366668701172 ]
[ -0.98848557472229, -0.05173231661319733, -0.14219704270362854, 0.0517292246222496, -0.9986541867256165, 0.0037209053989499807, 0.2666303515434265, -0.009195573627948761, 0.1783066689968109, 64.95366668701172 ]
[ -0.9897209405899048, -0.04863840714097023, -0.13448694348335266, 0.04847816377878189, -0.9988142251968384, 0.004467935301363468, 0.26622259616851807, -0.009797760285437107, 0.1863713413476944, 64.92042541503906 ]
0.133333
2
0
2
0
aloha
[ [ 0.32799869775772095, 0.017361409962177277, 0.1762048900127411 ], [ 0.34750327467918396, -0.05091081187129021, 0.1845913678407669 ], [ 0.3037503957748413, -0.056468572467565536, 0.20735643804073334 ], [ 0.3223753273487091, 0.028459016233682632, 0.21161423...
126
[ [ 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 ...
[ 92.109375, 191.25, 191.25, 171.123046875, 171.03515625, 15.029296875, 18.80859375, -15.1171875, 3.904109477996826, 91.845703125, 197.314453125, 197.314453125, 174.111328125, 174.111328125, -2.548828125, 21.884765625, 2.373046875, 64.92042541503906 ]
[ 92.109375, 192.568359375, 192.744140625, 172.177734375, 172.529296875, 15.1171875, 19.16015625, -15.1171875, 3.901996374130249, 91.93359375, 198.544921875, 198.720703125, 175.341796875, 175.60546875, -2.4609375, 22.236328125, 2.373046875, 64.95366668701172 ]
[ -0.9885895252227783, -0.050046805292367935, -0.14207784831523895, 0.04963343217968941, -0.9987466335296631, 0.006454107817262411, 0.2666100263595581, -0.009599924087524414, 0.17830175161361694, 64.95366668701172 ]
[ -0.9897209405899048, -0.04863840714097023, -0.13448694348335266, 0.04847816377878189, -0.9988142251968384, 0.004467935301363468, 0.26622259616851807, -0.009797760285437107, 0.1863713413476944, 64.92042541503906 ]
0.2
3
0
3
0
aloha
[ [ 0.3279331922531128, 0.01705416478216648, 0.1761121302843094 ], [ 0.3475540578365326, -0.05115954205393791, 0.184701070189476 ], [ 0.30381348729133606, -0.0567227341234684, 0.20748847723007202 ], [ 0.32229557633399963, 0.028248576447367668, 0.211488723754...
126
[ [ 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 ...
[ 92.197265625, 191.25, 191.337890625, 171.123046875, 171.03515625, 15.1171875, 18.80859375, -15.1171875, 3.904109477996826, 91.93359375, 197.314453125, 197.314453125, 174.111328125, 174.111328125, -2.548828125, 21.884765625, 2.373046875, 64.92042541503906 ]
[ 92.109375, 192.65625, 192.744140625, 172.177734375, 172.529296875, 15.1171875, 19.072265625, -15.1171875, 3.901996374130249, 92.021484375, 198.544921875, 198.720703125, 175.341796875, 175.60546875, -2.548828125, 22.236328125, 2.28515625, 64.95366668701172 ]
[ -0.98848557472229, -0.05173231661319733, -0.14219704270362854, 0.0517292246222496, -0.9986541867256165, 0.0037209053989499807, 0.2666303515434265, -0.009195573627948761, 0.1783066689968109, 64.95366668701172 ]
[ -0.9896454215049744, -0.05017051473259926, -0.13447992503643036, 0.04999632388353348, -0.9987384676933289, 0.004674231167882681, 0.26623693108558655, -0.009517393074929714, 0.1863713413476944, 64.92042541503906 ]
0.266667
4
0
4
0
aloha
[ [ 0.32799869775772095, 0.017361409962177277, 0.1762048900127411 ], [ 0.34750327467918396, -0.05091081187129021, 0.1845913678407669 ], [ 0.3037503957748413, -0.056468572467565536, 0.20735643804073334 ], [ 0.3223753273487091, 0.028459016233682632, 0.21161423...
126
[ [ 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 ...
[92.197265625,191.25,191.25,171.123046875,171.03515625,15.029296875,18.80859375,-15.1171875,3.904109(...TRUNCATED)
[92.109375,192.65625,192.744140625,172.177734375,172.529296875,15.1171875,19.072265625,-15.1171875,3(...TRUNCATED)
[-0.9883702993392944,-0.04982542619109154,-0.14367157220840454,0.04962603375315666,-0.99875551462173(...TRUNCATED)
[-0.9898759126663208,-0.04979744181036949,-0.13291288912296295,0.04943254962563515,-0.99875915050506(...TRUNCATED)
0.333333
5
0
5
0
aloha
[[0.3278680741786957,0.017077438533306122,0.17550088465213776],[0.347490131855011,-0.051144491881132(...TRUNCATED)
126
[ [ 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)
[92.197265625,191.25,191.25,171.123046875,171.03515625,15.1171875,18.80859375,-15.1171875,3.90410947(...TRUNCATED)
[92.109375,192.65625,192.744140625,172.177734375,172.529296875,15.205078125,19.072265625,-15.1171875(...TRUNCATED)
[-0.9885895252227783,-0.049828801304101944,-0.14215445518493652,0.04963343217968941,-0.9987553954124(...TRUNCATED)
[-0.9899533987045288,-0.04840536043047905,-0.13285018503665924,0.047852955758571625,-0.9988273382186(...TRUNCATED)
0.4
6
0
6
0
aloha
[[0.32792776823043823,0.017075425013899803,0.17615723609924316],[0.34756284952163696,-0.051146946847(...TRUNCATED)
126
[ [ 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)
[92.197265625,191.25,191.25,171.123046875,171.03515625,15.1171875,18.80859375,-15.1171875,3.90410947(...TRUNCATED)
[92.109375,192.65625,192.744140625,172.177734375,172.529296875,15.1171875,19.072265625,-15.1171875,3(...TRUNCATED)
[-0.9885830283164978,-0.05013464018702507,-0.14209188520908356,0.05015029385685921,-0.99873566627502(...TRUNCATED)
[-0.9899685978889465,-0.04840525612235069,-0.13273705542087555,0.04785344749689102,-0.99882733821868(...TRUNCATED)
0.466667
7
0
7
0
aloha
[[0.3278196156024933,0.017171407118439674,0.17624157667160034],[0.3474343717098236,-0.05106968432664(...TRUNCATED)
126
[ [ 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)
[92.197265625,191.25,191.25,171.03515625,171.03515625,15.029296875,18.80859375,-15.1171875,3.9041094(...TRUNCATED)
[92.109375,192.65625,192.744140625,172.177734375,172.529296875,15.1171875,19.16015625,-15.1171875,3.(...TRUNCATED)
[-0.9885637760162354,-0.050200335681438446,-0.14220258593559265,0.05021284148097038,-0.9987323880195(...TRUNCATED)
[-0.9899533987045288,-0.04820151627063751,-0.13292428851127625,0.047852955758571625,-0.9988374710083(...TRUNCATED)
0.533333
8
0
8
0
aloha
[[0.3279430568218231,0.01717575266957283,0.1762048900127411],[0.3475523591041565,-0.0510664694011211(...TRUNCATED)
126
[ [ 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)
[92.197265625,191.25,191.25,171.123046875,171.03515625,15.029296875,18.80859375,-15.1171875,3.904109(...TRUNCATED)
[92.109375,192.65625,192.744140625,172.177734375,172.44140625,15.1171875,19.16015625,-15.1171875,3.9(...TRUNCATED)
[-0.9885895252227783,-0.050046805292367935,-0.14207784831523895,0.04963343217968941,-0.9987466335296(...TRUNCATED)
[-0.9901317954063416,-0.04857872053980827,-0.13145014643669128,0.04842805117368698,-0.99881720542907(...TRUNCATED)
0.6
9
0
9
0
aloha
[[0.3279331922531128,0.01705416478216648,0.1761121302843094],[0.3475540578365326,-0.0511595420539379(...TRUNCATED)
126
[ [ 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

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": null,
    "total_episodes": 25,
    "total_frames": 9625,
    "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