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[-0.9892072677612305,-0.019092870876193047,-0.1452735811471939,0.025269586592912674,-0.9988480806350(...TRUNCATED)
0.466667
7
0
7
0
[[0.42786896228790283,0.054412294179201126,0.35750749707221985],[0.44213202595710754,0.0505051277577(...TRUNCATED)
63
[ [ 608.3449096679688, 0, 639.0567016601562 ], [ 0, 608.4014892578125, 364.60748291015625 ], [ 0, 0, 1 ] ]
[[0.9961243867874146,-0.08583499491214752,-0.019126271829009056,0.09768758714199066],[-0.05865536257(...TRUNCATED)
[ [ 611.1693115234375, 0, 638.8131713867188 ], [ 0, 611.1657104492188, 367.74871826171875 ], [ 0, 0, 1 ] ]
[[-0.9995994567871094,0.025723235681653023,-0.0117112435400486,-0.13995361328125],[0.028176182880997(...TRUNCATED)
human
[90.087890625,191.25,191.337890625,170.859375,170.859375,6.064453125,18.369140625,-3.603515625,-4.31(...TRUNCATED)
[90.0,192.919921875,193.18359375,172.08984375,172.353515625,6.15234375,18.80859375,-3.515625,-4.2649(...TRUNCATED)
[-0.987147331237793,-0.018970904871821404,-0.15868277847766876,0.0252070352435112,-0.998983204364776(...TRUNCATED)
[-0.9892072677612305,-0.019092870876193047,-0.1452735811471939,0.025269586592912674,-0.9988480806350(...TRUNCATED)
0.533333
8
0
8
0
[[0.42825910449028015,0.056640271097421646,0.3568602502346039],[0.442709356546402,0.0527216456830501(...TRUNCATED)
63
[ [ 608.3449096679688, 0, 639.0567016601562 ], [ 0, 608.4014892578125, 364.60748291015625 ], [ 0, 0, 1 ] ]
[[0.9961243867874146,-0.08583499491214752,-0.019126271829009056,0.09768758714199066],[-0.05865536257(...TRUNCATED)
[ [ 611.1693115234375, 0, 638.8131713867188 ], [ 0, 611.1657104492188, 367.74871826171875 ], [ 0, 0, 1 ] ]
[[-0.9995994567871094,0.025723235681653023,-0.0117112435400486,-0.13995361328125],[0.028176182880997(...TRUNCATED)
human
[90.17578125,191.25,191.25,170.859375,170.859375,6.064453125,18.45703125,-3.603515625,-4.31506872177(...TRUNCATED)
[90.0,192.83203125,193.18359375,172.08984375,172.353515625,6.15234375,18.80859375,-3.515625,-4.35571(...TRUNCATED)
[-0.9869223833084106,-0.018912864848971367,-0.16008293628692627,0.025201167911291122,-0.998984694480(...TRUNCATED)
[-0.989001452922821,-0.019030390307307243,-0.14667659997940063,0.02526421658694744,-0.99884968996047(...TRUNCATED)
0.6
9
0
9
0
[[0.41686949133872986,0.04505135118961334,0.36549097299575806],[0.4308609664440155,0.041132584214210(...TRUNCATED)
63
[ [ 608.3449096679688, 0, 639.0567016601562 ], [ 0, 608.4014892578125, 364.60748291015625 ], [ 0, 0, 1 ] ]
[[0.9961243867874146,-0.08583499491214752,-0.019126271829009056,0.09768758714199066],[-0.05865536257(...TRUNCATED)
[ [ 611.1693115234375, 0, 638.8131713867188 ], [ 0, 611.1657104492188, 367.74871826171875 ], [ 0, 0, 1 ] ]
[[-0.9995994567871094,0.025723235681653023,-0.0117112435400486,-0.13995361328125],[0.028176182880997(...TRUNCATED)
human
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": null,
    "total_episodes": 20,
    "total_frames": 4500,
    "total_tasks": 1,
    "total_videos": 140,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:20"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                18
            ],
            "names": [
                "left_waist",
                "left_shoulder",
                "left_shoulder_shadow",
                "left_elbow",
                "left_elbow_shadow",
                "left_forearm_roll",
                "left_wrist_angle",
                "left_wrist_rotate",
                "left_gripper",
                "right_waist",
                "right_shoulder",
                "right_shoulder_shadow",
                "right_elbow",
                "right_elbow_shadow",
                "right_forearm_roll",
                "right_wrist_angle",
                "right_wrist_rotate",
                "right_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                18
            ],
            "names": [
                "left_waist",
                "left_shoulder",
                "left_shoulder_shadow",
                "left_elbow",
                "left_elbow_shadow",
                "left_forearm_roll",
                "left_wrist_angle",
                "left_wrist_rotate",
                "left_gripper",
                "right_waist",
                "right_shoulder",
                "right_shoulder_shadow",
                "right_elbow",
                "right_elbow_shadow",
                "right_forearm_roll",
                "right_wrist_angle",
                "right_wrist_rotate",
                "right_gripper"
            ]
        },
        "observation.right_eef_pose": {
            "dtype": "float32",
            "shape": [
                10
            ],
            "names": [
                "rot_6d_0",
                "rot_6d_1",
                "rot_6d_2",
                "rot_6d_3",
                "rot_6d_4",
                "rot_6d_5",
                "trans_0",
                "trans_1",
                "trans_2",
                "gripper_articulation"
            ]
        },
        "action.right_eef_pose": {
            "dtype": "float32",
            "shape": [
                10
            ],
            "names": [
                "rot_6d_0",
                "rot_6d_1",
                "rot_6d_2",
                "rot_6d_3",
                "rot_6d_4",
                "rot_6d_5",
                "trans_0",
                "trans_1",
                "trans_2",
                "gripper_articulation"
            ]
        },
        "observation.images.cam_azure_kinect_back.transformed_depth": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                1
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": "Transformed depth image aligned to color"
        },
        "observation.images.cam_azure_kinect_back.color": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": "Raw color image"
        },
        "observation.images.cam_azure_kinect_front.transformed_depth": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                1
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": "Transformed depth image aligned to color"
        },
        "observation.images.cam_azure_kinect_front.color": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": "Raw color image"
        },
        "observation.images.cam_wrist": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": "RGB color image"
        },
        "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
        },
        "observation.images.cam_azure_kinect_front.goal_gripper_proj": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": "Projection of gripper pcd at goal position onto image"
        },
        "observation.images.cam_azure_kinect_back.goal_gripper_proj": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": "Projection of gripper pcd at goal position onto image"
        },
        "observation.points.gripper_pcds": {
            "dtype": "pcd",
            "shape": [
                -1,
                3
            ],
            "names": [
                "N",
                "channels"
            ],
            "info": "Raw gripper point cloud at current position"
        },
        "next_event_idx": {
            "dtype": "int32",
            "shape": [
                1
            ],
            "names": [
                "idx"
            ],
            "info": "Index of next event in the dataset"
        },
        "observation.cam_azure_kinect_front.intrinsics": {
            "dtype": "float32",
            "shape": [
                3,
                3
            ],
            "names": [
                "rows",
                "cols"
            ],
            "info": "Camera intrinsic matrix (K)"
        },
        "observation.cam_azure_kinect_front.extrinsics": {
            "dtype": "float32",
            "shape": [
                4,
                4
            ],
            "names": [
                "rows",
                "cols"
            ],
            "info": "Camera extrinsic matrix (T_world_cam)"
        },
        "observation.cam_azure_kinect_back.intrinsics": {
            "dtype": "float32",
            "shape": [
                3,
                3
            ],
            "names": [
                "rows",
                "cols"
            ],
            "info": "Camera intrinsic matrix (K)"
        },
        "observation.cam_azure_kinect_back.extrinsics": {
            "dtype": "float32",
            "shape": [
                4,
                4
            ],
            "names": [
                "rows",
                "cols"
            ],
            "info": "Camera extrinsic matrix (T_world_cam)"
        }
    }
}

Citation

BibTeX:

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