action list | observation.state list | observation.right_eef_pose list | action.right_eef_pose list | timestamp float32 0 8.6 | frame_index int64 0 129 | episode_index int64 0 24 | index int64 0 2.46k | task_index int64 0 0 | embodiment stringclasses 1
value | observation.points.gripper_pcds listlengths 500 500 | next_event_idx int32 52 129 | 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": 2463,
"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": {
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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",
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"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",
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10
],
"names": [
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"rot_6d_2",
"rot_6d_3",
"rot_6d_4",
"rot_6d_5",
"trans_0",
"trans_1",
"trans_2",
"gripper_articulation"
]
},
"action.right_eef_pose": {
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"names": [
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"rot_6d_3",
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"rot_6d_5",
"trans_0",
"trans_1",
"trans_2",
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]
},
"observation.images.cam_azure_kinect_back.transformed_depth": {
"dtype": "video",
"shape": [
720,
1280,
1
],
"names": [
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],
"info": "Transformed depth image aligned to color"
},
"observation.images.cam_azure_kinect_back.color": {
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"shape": [
720,
1280,
3
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"names": [
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],
"info": "Raw color image"
},
"observation.images.cam_azure_kinect_front.transformed_depth": {
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720,
1280,
1
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"names": [
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"info": "Transformed depth image aligned to color"
},
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"dtype": "video",
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720,
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3
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"names": [
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},
"observation.images.cam_wrist": {
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3
],
"names": [
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"info": "RGB color image"
},
"timestamp": {
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"names": null
},
"frame_index": {
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},
"episode_index": {
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"index": {
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},
"task_index": {
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],
"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": [
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3
],
"names": [
"N",
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],
"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",
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],
"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)"
}
}
}
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