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timestamp
float32
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frame_index
int64
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449
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7.38k
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[ -0.34818145632743835, -0.021644625812768936, -0.9371772408485413, 0.0395767018198967, -0.9991814494132996, 0.008373054675757885, 0.025420518592000008, -0.06909830868244171, 0.18804395198822021, 94.69496154785156 ]
3.266667
98
0
98
0
[ 89.912109375, 191.25, 191.337890625, 170.947265625, 170.859375, 3.8671875, 18.544921875, -0.703125, 3.972602605819702, 80.595703125, 89.208984375, 89.296875, 98.7890625, 98.701171875, -6.240234375, 60.205078125, 12.216796875, 94.69496154785156 ]
[ 89.82421875, 192.65625, 192.744140625, 171.9140625, 172.177734375, 4.04296875, 18.896484375, -0.703125, 3.9927403926849365, 81.03515625, 89.736328125, 89.912109375, 98.4375, 98.61328125, -6.240234375, 61.259765625, 12.48046875, 94.6925048828125 ]
[ -0.33685770630836487, -0.030976640060544014, -0.941045880317688, 0.043344322592020035, -0.9989092350006104, 0.017365766689181328, 0.026810383424162865, -0.06682784110307693, 0.18580332398414612, 94.6925048828125 ]
[ -0.34058353304862976, -0.017142480239272118, -0.9400579929351807, 0.03920421004295349, -0.9992231130599976, 0.004017682746052742, 0.024767102673649788, -0.07064491510391235, 0.18112123012542725, 94.69496154785156 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "aloha",
    "total_episodes": 20,
    "total_frames": 12563,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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": {
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                1280,
                1
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": "Transformed depth image aligned to color"
        },
        "observation.images.cam_azure_kinect_back.color": {
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            "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": [
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                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": "RGB color image"
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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