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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) | [0.5454085469245911,2.557399272918701,-2.4894657135009766,-0.10684376209974289,-0.013407194055616856(...TRUNCATED) | [0.5454128980636597,2.557509183883667,-2.4892897605895996,-0.10677686333656311,-0.013326937332749367(...TRUNCATED) | [-0.9044333696365356,0.28791964054107666,1.080875039100647,-0.6709243655204773,0.6841583251953125,0.(...TRUNCATED) | [-0.9044464826583862,0.28793978691101074,1.080689787864685,-0.6707872152328491,0.6842970848083496,0.(...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) | [0.5454128980636597,2.557509183883667,-2.4892897605895996,-0.10677686333656311,-0.013326937332749367(...TRUNCATED) | [0.545417070388794,2.5576021671295166,-2.4891412258148193,-0.10672010481357574,-0.013259399682283401(...TRUNCATED) | [-0.9044464826583862,0.28793978691101074,1.080689787864685,-0.6707872152328491,0.6842970848083496,0.(...TRUNCATED) | [-0.9044580459594727,0.2879563570022583,1.080533742904663,-0.670671284198761,0.6844142079353333,0.12(...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) | [0.545417070388794,2.5576021671295166,-2.4891412258148193,-0.10672010481357574,-0.013259399682283401(...TRUNCATED) | [0.5454201102256775,2.557680130004883,-2.489016056060791,-0.10667191445827484,-0.01320258341729641,0(...TRUNCATED) | [-0.9044580459594727,0.2879563570022583,1.080533742904663,-0.670671284198761,0.6844142079353333,0.12(...TRUNCATED) | [-0.9044674038887024,0.28797048330307007,1.080402135848999,-0.6705736517906189,0.6845127940177917,0.(...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) | [0.5454201102256775,2.557680130004883,-2.489016056060791,-0.10667191445827484,-0.01320258341729641,0(...TRUNCATED) | [0.5454219579696655,2.557746171951294,-2.48891019821167,-0.10663096606731415,-0.013154766522347927,0(...TRUNCATED) | [-0.9044674038887024,0.28797048330307007,1.080402135848999,-0.6705736517906189,0.6845127940177917,0.(...TRUNCATED) | [-0.9044749140739441,0.2879827320575714,1.0802907943725586,-0.6704911589622498,0.6845962405204773,0.(...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) | [0.5454219579696655,2.557746171951294,-2.48891019821167,-0.10663096606731415,-0.013154766522347927,0(...TRUNCATED) | [0.5454233884811401,2.5578019618988037,-2.488821268081665,-0.1065962165594101,-0.013114534318447113,(...TRUNCATED) | [-0.9044749140739441,0.2879827320575714,1.0802907943725586,-0.6704911589622498,0.6845962405204773,0.(...TRUNCATED) | [-0.9044811725616455,0.28799304366111755,1.0801970958709717,-0.6704217791557312,0.6846664547920227,0(...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) | [0.5454233884811401,2.5578019618988037,-2.488821268081665,-0.1065962165594101,-0.013114534318447113,(...TRUNCATED) | [0.54542475938797,2.5578479766845703,-2.4887466430664062,-0.10656674206256866,-0.013080690056085587,(...TRUNCATED) | [-0.9044811725616455,0.28799304366111755,1.0801970958709717,-0.6704217791557312,0.6846664547920227,0(...TRUNCATED) | [-0.9044864773750305,0.28800150752067566,1.080119252204895,-0.6703636646270752,0.6847251057624817,0.(...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) | [0.54542475938797,2.5578479766845703,-2.4887466430664062,-0.10656674206256866,-0.013080690056085587,(...TRUNCATED) | [0.5454257130622864,2.5578877925872803,-2.4886839389801025,-0.1065416932106018,-0.013052212074398994(...TRUNCATED) | [-0.9044864773750305,0.28800150752067566,1.080119252204895,-0.6703636646270752,0.6847251057624817,0.(...TRUNCATED) | [-0.9044908285140991,0.2880088984966278,1.0800527334213257,-0.6703143119812012,0.6847749948501587,0.(...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) | [0.5454257130622864,2.5578877925872803,-2.4886839389801025,-0.1065416932106018,-0.013052212074398994(...TRUNCATED) | [0.5454266667366028,2.5579209327697754,-2.488630771636963,-0.10652043670415878,-0.013028248213231564(...TRUNCATED) | [-0.9044908285140991,0.2880088984966278,1.0800527334213257,-0.6703143119812012,0.6847749948501587,0.(...TRUNCATED) | [-0.90449458360672,0.2880150079727173,1.079996943473816,-0.6702727675437927,0.6848168969154358,0.124(...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) | [0.5454266667366028,2.5579209327697754,-2.488630771636963,-0.10652043670415878,-0.013028248213231564(...TRUNCATED) | [0.5454276204109192,2.5579488277435303,-2.488585948944092,-0.10650240629911423,-0.013008089736104012(...TRUNCATED) | [-0.90449458360672,0.2880150079727173,1.079996943473816,-0.6702727675437927,0.6848168969154358,0.124(...TRUNCATED) | [-0.9044978618621826,0.2880200445652008,1.079950213432312,-0.67023766040802,0.6848521828651428,0.124(...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) | [0.5454276204109192,2.5579488277435303,-2.488585948944092,-0.10650240629911423,-0.013008089736104012(...TRUNCATED) | [0.5454285740852356,2.5579729080200195,-2.4885478019714355,-0.10648711770772934,-0.01299110800027847(...TRUNCATED) | [-0.9044978618621826,0.2880200445652008,1.079950213432312,-0.67023766040802,0.6848521828651428,0.124(...TRUNCATED) | [-0.9045006632804871,0.288024365901947,1.0799096822738647,-0.6702077984809875,0.6848822832107544,0.1(...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": 100,
"total_frames": 25922,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:100"
},
"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
}
}
}
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