Search is not available for this dataset
observation.state list | grasp_state int64 0 3 | observation.joint_state list | observation.motion_state int32 0 11 | action list | observation.gripper_setpoint float32 -0.2 0.79 | timestamp float32 0 25.9 | frame_index int64 0 778 | episode_index int64 0 1.5k | index int64 0 745k | task_index int64 0 0 |
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.images.tactile_R": {
"dtype": "video",
"shape": [
320,
240,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 320,
"video.width": 240,
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.codec": "av1",
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
8
]
},
"grasp_state": {
"dtype": "int64",
"shape": [
1
]
},
"observation.joint_state": {
"dtype": "float32",
"shape": [
7
]
},
"observation.motion_state": {
"dtype": "int32",
"shape": [
1
]
},
"observation.images.tactile_L": {
"dtype": "video",
"shape": [
320,
240,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 320,
"video.width": 240,
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.codec": "av1",
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"action": {
"dtype": "float32",
"shape": [
8
]
},
"observation.gripper_setpoint": {
"dtype": "float32",
"shape": [
1
]
},
"observation.images.center_cam_depth": {
"dtype": "video",
"shape": [
480,
640,
1
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.fps": 30,
"has_audio": false,
"video.depth_min": 0.01,
"video.depth_max": 10.0,
"depth_unit": "m",
"video.codec": "hevc",
"video.pix_fmt": "gray12le",
"video.channels": 1,
"video.g": 2,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {
"x265-params": "lossless=1"
},
"video.shift": 3.5,
"video.use_log": true,
"is_depth_map": true
}
},
"observation.images.center_cam": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.codec": "av1",
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"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
}
},
"total_episodes": 1500,
"total_frames": 744854,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": null,
"splits": {
"train": "0:1500"
}
}
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