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observation.camera_top_depth array 2D | observation.camera_wrist_depth array 2D | observation.state list | action list | observation.state_ee list | action_ee list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [1.2542327642440796,0.39921557903289795,-1.0403940677642822,-1.3611912727355957,-0.5975925922393799,(...TRUNCATED) | [1.254241943359375,0.39924055337905884,-1.0402289628982544,-1.3553165197372437,-0.5995286703109741,-(...TRUNCATED) | [-0.6105437278747559,-0.4504888355731964,1.400585412979126,0.8608747124671936,0.30308282375335693,-0(...TRUNCATED) | [-0.609961211681366,-0.45089298486709595,1.4009876251220703,0.8608518242835999,0.3039356768131256,-0(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [1.254241943359375,0.39924055337905884,-1.0402289628982544,-1.3553165197372437,-0.5995286703109741,-(...TRUNCATED) | [1.2542492151260376,0.39926162362098694,-1.0400900840759277,-1.3503317832946777,-0.6011667847633362,(...TRUNCATED) | [-0.609961211681366,-0.45089298486709595,1.4009876251220703,0.8608518242835999,0.3039356768131256,-0(...TRUNCATED) | [-0.6094636917114258,-0.4512311518192291,1.4013315439224243,0.8608332872390747,0.30463770031929016,-(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [1.2542492151260376,0.39926162362098694,-1.0400900840759277,-1.3503317832946777,-0.6011667847633362,(...TRUNCATED) | [1.2542556524276733,0.3992794156074524,-1.0399737358093262,-1.3461028337478638,-0.6025531888008118,-(...TRUNCATED) | [-0.6094636917114258,-0.4512311518192291,1.4013315439224243,0.8608332872390747,0.30463770031929016,-(...TRUNCATED) | [-0.6090387105941772,-0.4515148103237152,1.4016250371932983,0.8608186841011047,0.30521753430366516,-(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [1.2542556524276733,0.3992794156074524,-1.0399737358093262,-1.3461028337478638,-0.6025531888008118,-(...TRUNCATED) | [1.2542606592178345,0.3992944061756134,-1.0398757457733154,-1.3425146341323853,-0.603726327419281,-0(...TRUNCATED) | [-0.6090387105941772,-0.4515148103237152,1.4016250371932983,0.8608186841011047,0.30521753430366516,-(...TRUNCATED) | [-0.6086764931678772,-0.4517529606819153,1.4018752574920654,0.8608073592185974,0.30569741129875183,-(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [1.2542606592178345,0.3992944061756134,-1.0398757457733154,-1.3425146341323853,-0.603726327419281,-0(...TRUNCATED) | [1.2542648315429688,0.39930710196495056,-1.0397928953170776,-1.3394705057144165,-0.6047189831733704,(...TRUNCATED) | [-0.6086764931678772,-0.4517529606819153,1.4018752574920654,0.8608073592185974,0.30569741129875183,-(...TRUNCATED) | [-0.608367919921875,-0.45195290446281433,1.4020882844924927,0.860798716545105,0.3060953617095947,-0.(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [1.2542648315429688,0.39930710196495056,-1.0397928953170776,-1.3394705057144165,-0.6047189831733704,(...TRUNCATED) | [1.2542681694030762,0.39931777119636536,-1.039723515510559,-1.3368874788284302,-0.6055588722229004,-(...TRUNCATED) | [-0.608367919921875,-0.45195290446281433,1.4020882844924927,0.860798716545105,0.3060953617095947,-0.(...TRUNCATED) | [-0.6081051826477051,-0.45212119817733765,1.4022701978683472,0.8607924580574036,0.3064260482788086,-(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [1.2542681694030762,0.39931777119636536,-1.039723515510559,-1.3368874788284302,-0.6055588722229004,-(...TRUNCATED) | [1.2542709112167358,0.3993268311023712,-1.0396655797958374,-1.3346961736679077,-0.6062699556350708,-(...TRUNCATED) | [-0.6081051826477051,-0.45212119817733765,1.4022701978683472,0.8607924580574036,0.3064260482788086,-(...TRUNCATED) | [-0.607881486415863,-0.4522630572319031,1.4024248123168945,0.8607880473136902,0.30670151114463806,-0(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [1.2542709112167358,0.3993268311023712,-1.0396655797958374,-1.3346961736679077,-0.6062699556350708,-(...TRUNCATED) | [1.2542732954025269,0.39933454990386963,-1.039616584777832,-1.3328375816345215,-0.6068713068962097,-(...TRUNCATED) | [-0.607881486415863,-0.4522630572319031,1.4024248123168945,0.8607880473136902,0.30670151114463806,-0(...TRUNCATED) | [-0.6076912879943848,-0.4523823857307434,1.4025566577911377,0.8607850074768066,0.3069310784339905,-0(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [1.2542732954025269,0.39933454990386963,-1.039616584777832,-1.3328375816345215,-0.6068713068962097,-(...TRUNCATED) | [1.2542755603790283,0.39934083819389343,-1.039575457572937,-1.3312599658966064,-0.6073802709579468,-(...TRUNCATED) | [-0.6076912879943848,-0.4523823857307434,1.4025566577911377,0.8607850074768066,0.3069310784339905,-0(...TRUNCATED) | [-0.60752934217453,-0.4524831175804138,1.402668833732605,0.8607833981513977,0.30712273716926575,-0.2(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[[994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,994,99(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,(...TRUNCATED) | [1.2542755603790283,0.39934083819389343,-1.039575457572937,-1.3312599658966064,-0.6073802709579468,-(...TRUNCATED) | [1.254277229309082,0.39934638142585754,-1.0395406484603882,-1.3299214839935303,-0.6078110933303833,-(...TRUNCATED) | [-0.60752934217453,-0.4524831175804138,1.402668833732605,0.8607833981513977,0.30712273716926575,-0.2(...TRUNCATED) | [-0.6073919534683228,-0.4525679051876068,1.402764081954956,0.8607826828956604,0.30728280544281006,-0(...TRUNCATED) | 0.3 | 9 | 0 | 9 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "AgileX Piper",
"total_episodes": 1000,
"total_frames": 268180,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1000"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.images.top": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.camera_top_depth": {
"dtype": "int32",
"shape": [
720,
1280
],
"names": [
"height",
"width"
]
},
"observation.camera_wrist_depth": {
"dtype": "int32",
"shape": [
720,
1280
],
"names": [
"height",
"width"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"shoulder_pan",
"shoulder_lift",
"elbow_flex",
"elbow_roll",
"wrist_flex",
"wrist_roll",
"gripper"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"shoulder_pan",
"shoulder_lift",
"elbow_flex",
"elbow_roll",
"wrist_flex",
"wrist_roll",
"gripper"
]
}
},
"observation.state_ee": {
"dtype": "float32",
"shape": [
8
],
"names": {
"pose": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw",
"gripper_cmd"
]
}
},
"action_ee": {
"dtype": "float32",
"shape": [
8
],
"names": {
"pose": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw",
"gripper_cmd"
]
}
},
"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
}
}
}
Citation
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