action list | observation.state list | observation.right_eef_pose list | action.right_eef_pose list | timestamp float32 0 15.6 | frame_index int64 0 234 | episode_index int64 0 24 | index int64 0 4.12k | task_index int64 0 0 | embodiment stringclasses 1
value | observation.points.gripper_pcds listlengths 778 778 | next_event_idx int32 60 234 | 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 |
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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": 25,
"total_frames": 4123,
"total_tasks": 1,
"total_videos": 175,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
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},
"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": {
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18
],
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"left_shoulder",
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"left_elbow",
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"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_shoulder_shadow",
"right_elbow",
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},
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"right_elbow",
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]
},
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]
},
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]
},
"observation.images.cam_azure_kinect_back.transformed_depth": {
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720,
1280,
1
],
"names": [
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],
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},
"observation.images.cam_azure_kinect_back.color": {
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720,
1280,
3
],
"names": [
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],
"info": "Raw color image"
},
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720,
1280,
1
],
"names": [
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],
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},
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720,
1280,
3
],
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},
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1280,
3
],
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],
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},
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],
"names": null
},
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},
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},
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],
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},
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},
"embodiment": {
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],
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],
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},
"observation.images.cam_azure_kinect_front.goal_gripper_proj": {
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720,
1280,
3
],
"names": [
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],
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},
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],
"names": [
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},
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],
"names": [
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],
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},
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},
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},
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],
"names": [
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],
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},
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],
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},
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],
"names": [
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],
"info": "Camera extrinsic matrix (T_world_cam)"
}
}
}
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