Search is not available for this dataset
action list | observation.state list | observation.robot_status.end_pos list | observation.robot_status.joint_pos list | observation.robot_status.joint_vel list | observation.robot_status.joint_cur list | observation.gripper float32 -0.03 4.99 | observation.d435_depth_m array 2D | timestamp float32 1.76B 1.76B | frame_index int64 0 1.52k | episode_index int64 0 2 | index int64 0 3.68k | 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",
"robot_type": null,
"total_episodes": 3,
"total_frames": 3681,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:3"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
28
],
"names": [
"end_x",
"end_y",
"end_z",
"end_roll",
"end_pitch",
"end_yaw",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7",
"joint_vel_1",
"joint_vel_2",
"joint_vel_3",
"joint_vel_4",
"joint_vel_5",
"joint_vel_6",
"joint_vel_7",
"joint_cur_1",
"joint_cur_2",
"joint_cur_3",
"joint_cur_4",
"joint_cur_5",
"joint_cur_6",
"joint_cur_7",
"gripper"
]
},
"observation.robot_status.end_pos": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.robot_status.joint_pos": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7"
]
},
"observation.robot_status.joint_vel": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_vel_1",
"joint_vel_2",
"joint_vel_3",
"joint_vel_4",
"joint_vel_5",
"joint_vel_6",
"joint_vel_7"
]
},
"observation.robot_status.joint_cur": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_cur_1",
"joint_cur_2",
"joint_cur_3",
"joint_cur_4",
"joint_cur_5",
"joint_cur_6",
"joint_cur_7"
]
},
"observation.gripper": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"observation.images.d405_rgb": {
"dtype": "video",
"shape": [
3,
240,
320
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 240,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.d435_rgb": {
"dtype": "video",
"shape": [
3,
240,
320
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 240,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.d435_depth_m": {
"dtype": "float32",
"shape": [
240,
320
],
"names": [
"height",
"width"
]
},
"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",
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1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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