This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 20,
"total_frames": 5548,
"total_tasks": 1,
"total_videos": 100,
"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": {
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8
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"names": [
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"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7",
"gripper"
]
},
"observation.state": {
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8
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"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7",
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]
},
"observation.right_eef_pose": {
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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"
]
},
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"names": [
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"rot_6d_3",
"rot_6d_4",
"rot_6d_5",
"trans_0",
"trans_1",
"trans_2",
"gripper_articulation"
]
},
"observation.images.cam_azure_kinect_left.transformed_depth": {
"dtype": "video",
"shape": [
720,
1280,
1
],
"names": [
"height",
"width",
"channels"
],
"info": "Transformed depth image aligned to color"
},
"observation.images.cam_azure_kinect_left.color": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
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],
"info": "Raw color image"
},
"observation.images.cam_azure_kinect_front.transformed_depth": {
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"shape": [
720,
1280,
1
],
"names": [
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],
"info": "Transformed depth image aligned to color"
},
"observation.images.cam_azure_kinect_front.color": {
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"shape": [
720,
1280,
3
],
"names": [
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"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": {
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1
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"names": null
},
"frame_index": {
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],
"names": null
},
"episode_index": {
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1
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"names": null
},
"index": {
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},
"task_index": {
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"names": null
}
}
}
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