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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
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "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": [
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                    "y",
                    "z",
                    "qx",
                    "qy",
                    "qz",
                    "qw",
                    "gripper_cmd"
                ]
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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        "index": {
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                1
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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