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action
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observation.state
list
observation.right_eef_pose
list
action.right_eef_pose
list
timestamp
float32
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observation.cam_azure_kinect_front.intrinsics
array 2D
observation.cam_azure_kinect_front.extrinsics
array 2D
observation.cam_azure_kinect_back.intrinsics
array 2D
observation.cam_azure_kinect_back.extrinsics
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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": 25,
    "total_frames": 9374,
    "total_tasks": 1,
    "total_videos": 175,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:25"
    },
    "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": {
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                "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": {
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            "shape": [
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            "names": [
                "left_waist",
                "left_shoulder",
                "left_shoulder_shadow",
                "left_elbow",
                "left_elbow_shadow",
                "left_forearm_roll",
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                "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": {
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            "shape": [
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            "names": [
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                "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": [
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            "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"
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        },
        "observation.images.cam_azure_kinect_back.transformed_depth": {
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            "shape": [
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            "names": [
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                "width",
                "channels"
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            "info": "Transformed depth image aligned to color"
        },
        "observation.images.cam_azure_kinect_back.color": {
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            "names": [
                "height",
                "width",
                "channels"
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            "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
        },
        "embodiment": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": [
                "embodiment"
            ],
            "info": "Name of embodiment"
        },
        "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)"
        }
    }
}

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