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float32
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25.9
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
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        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_pan.current_raw",
                "shoulder_pan.load_raw",
                "shoulder_pan.vel_hw",
                "shoulder_lift.pos",
                "shoulder_lift.current_raw",
                "shoulder_lift.load_raw",
                "shoulder_lift.vel_hw",
                "elbow_flex.pos",
                "elbow_flex.current_raw",
                "elbow_flex.load_raw",
                "elbow_flex.vel_hw",
                "wrist_flex.pos",
                "wrist_flex.current_raw",
                "wrist_flex.load_raw",
                "wrist_flex.vel_hw",
                "wrist_roll.pos",
                "wrist_roll.current_raw",
                "wrist_roll.load_raw",
                "wrist_roll.vel_hw",
                "gripper.pos",
                "gripper.current_raw",
                "gripper.load_raw",
                "gripper.vel_hw",
                "shoulder_pan.vel",
                "shoulder_lift.vel",
                "elbow_flex.vel",
                "wrist_flex.vel",
                "wrist_roll.vel",
                "gripper.vel",
                "shoulder_pan.torque_raw",
                "shoulder_lift.torque_raw",
                "elbow_flex.torque_raw",
                "wrist_flex.torque_raw",
                "wrist_roll.torque_raw",
                "gripper.torque_raw",
                "shoulder_pan.current_raw_signed",
                "shoulder_pan.current_ma_signed",
                "shoulder_pan.torque_raw_signed",
                "shoulder_lift.current_raw_signed",
                "shoulder_lift.current_ma_signed",
                "shoulder_lift.torque_raw_signed",
                "elbow_flex.current_raw_signed",
                "elbow_flex.current_ma_signed",
                "elbow_flex.torque_raw_signed",
                "wrist_flex.current_raw_signed",
                "wrist_flex.current_ma_signed",
                "wrist_flex.torque_raw_signed",
                "wrist_roll.current_raw_signed",
                "wrist_roll.current_ma_signed",
                "wrist_roll.torque_raw_signed",
                "gripper.current_raw_signed",
                "gripper.current_ma_signed",
                "gripper.torque_raw_signed",
                "shoulder_pan.filtered/vel_rad",
                "shoulder_pan.estimated/tau_ext",
                "shoulder_pan.estimated/tau_var",
                "shoulder_pan.model/tau_motor",
                "shoulder_pan.model/tau_gravity",
                "shoulder_pan.model/tau_friction",
                "shoulder_pan.model/tau_coriolis",
                "shoulder_pan.model/tau_inertial",
                "shoulder_pan.model/tau_model",
                "shoulder_lift.filtered/vel_rad",
                "shoulder_lift.estimated/tau_ext",
                "shoulder_lift.estimated/tau_var",
                "shoulder_lift.model/tau_motor",
                "shoulder_lift.model/tau_gravity",
                "shoulder_lift.model/tau_friction",
                "shoulder_lift.model/tau_coriolis",
                "shoulder_lift.model/tau_inertial",
                "shoulder_lift.model/tau_model",
                "elbow_flex.filtered/vel_rad",
                "elbow_flex.estimated/tau_ext",
                "elbow_flex.estimated/tau_var",
                "elbow_flex.model/tau_motor",
                "elbow_flex.model/tau_gravity",
                "elbow_flex.model/tau_friction",
                "elbow_flex.model/tau_coriolis",
                "elbow_flex.model/tau_inertial",
                "elbow_flex.model/tau_model",
                "wrist_flex.filtered/vel_rad",
                "wrist_flex.estimated/tau_ext",
                "wrist_flex.estimated/tau_var",
                "wrist_flex.model/tau_motor",
                "wrist_flex.model/tau_gravity",
                "wrist_flex.model/tau_friction",
                "wrist_flex.model/tau_coriolis",
                "wrist_flex.model/tau_inertial",
                "wrist_flex.model/tau_model",
                "wrist_roll.filtered/vel_rad",
                "wrist_roll.estimated/tau_ext",
                "wrist_roll.estimated/tau_var",
                "wrist_roll.model/tau_motor",
                "wrist_roll.model/tau_gravity",
                "wrist_roll.model/tau_friction",
                "wrist_roll.model/tau_coriolis",
                "wrist_roll.model/tau_inertial",
                "wrist_roll.model/tau_model",
                "gripper.filtered/vel_rad",
                "gripper.estimated/tau_ext",
                "gripper.estimated/tau_var",
                "gripper.model/tau_motor",
                "gripper.model/tau_gravity",
                "gripper.model/tau_friction",
                "gripper.model/tau_coriolis",
                "gripper.model/tau_inertial",
                "gripper.model/tau_model",
                "tcp/wrench/fx",
                "tcp/wrench/fy",
                "tcp/wrench/fz",
                "tcp/wrench/tx",
                "tcp/wrench/ty",
                "tcp/wrench/tz",
                "hpi/gripper/tau_ext",
                "hpi/gripper/q",
                "hpi/gripper/dq"
            ],
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        "observation.images.top": {
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                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
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                "video.video_backend": "pyav",
                "video.extra_options": {}
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        "observation.images.corner": {
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            "info": {
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                "video.is_depth_map": false,
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    },
    "total_episodes": 1,
    "total_frames": 779,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "so_follower",
    "splits": {
        "train": "0:1"
    }
}

Citation

BibTeX:

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