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float32
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39.9
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int64
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1.2k
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int64
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2.3
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2.4
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2.5
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[ -2.8131868839263916, 1, 32, 0, -101.4065933227539, 1, -52, 0, 97.71428680419922, 4, 120, 0, 78.5934066772461, 3, 120, -4.395604610443115, 87.42857360839844, 1, -36, 0, 2.685821294784546, 1, 40, 0, 0, 0, 0, -5.275693416595459, 0, 0, 71.3115005493164, 71.3...
[ -0.009695224463939667, 0.04687642678618431, 0, 0.011099700815975666, -0.020285850390791893, -0.05761043354868889, -0.06260136514902115, -0.005406178534030914, 0.002362416125833988 ]
2.6
78
0
78
0
[ -2.769230842590332, -100.52747344970703, 94.15384674072266, 76.3956069946289, 87.42857360839844, 2.2690436840057373 ]
[ -2.8131868839263916, 0, -24, 0, -101.4065933227539, 1, -52, 0, 97.71428680419922, 3, 160, 0, 78.06593322753906, 1, 88, -13.186813354492188, 87.42857360839844, 0, 0, 0, 2.685821294784546, 1, 40, 0, 0, 0, 0, -15.796636581420898, 0, 0, 0, 71.3115005493164, ...
[ -0.009717416018247604, 0.04687642678618431, 0, 0.2515721023082733, 0.0008763851947151124, -0.30364614725112915, -0.03449730947613716, -0.018009115010499954, 0.0012666061520576477 ]
2.633333
79
0
79
0
[ -2.681318759918213, -100.43955993652344, 93.0988998413086, 76.92308044433594, 87.34066009521484, 2.2690436840057373 ]
[ -2.8131868839263916, 0, 0, 0, -101.4065933227539, 2, -52, 0, 97.71428680419922, 6, 204, 0, 77.80220031738281, 1, 68, -8.79120922088623, 87.42857360839844, 0, 0, 0, 2.685821294784546, 1, 40, 0, 0, 0, 0, -7.889908313751221, 0, 0, 0, 142.6230010986328, 42...
[ -0.00975789688527584, 0.04687642678618431, 0, -0.06120602786540985, -0.0073300437070429325, -0.04569675400853157, -0.012990143150091171, -0.0016850446118041873, -0.0008401835220865905 ]
2.666667
80
0
80
0
[ -2.681318759918213, -100.43955993652344, 92.04395294189453, 77.89010620117188, 87.34066009521484, 2.2690436840057373 ]
[ -2.8131868839263916, 0, 0, 0, -101.4065933227539, 2, -60, 0, 97.62637329101562, 9, 244, 0, 77.62637329101562, 0, 24, -8.79120922088623, 87.42857360839844, 0, 0, 0, 2.685821294784546, 1, 40, 0, 0, 0, -2.6370761394500732, -5.2741522789001465, 0, 0, 0, 142....
[ -0.009760569781064987, 0.04687642678618431, 0, -0.3321901261806488, -0.015277820639312267, 0.3594217598438263, 0.0014664091868326068, 0.021539762616157532, 0.0025563302915543318 ]
2.7
81
0
81
0
[ -2.681318759918213, -100.43955993652344, 90.72527313232422, 79.12088012695312, 87.25274658203125, 2.2690436840057373 ]
[ -2.8131868839263916, 0, 0, 0, -101.4065933227539, 1, -56, 0, 97.010986328125, 9, 240, -21.9780216217041, 77.53845977783203, 1, -36, -4.395604610443115, 87.42857360839844, 0, 0, 0, 2.685821294784546, 1, 40, 0, 0, 0, -18.361804962158203, -2.623114824295044, 0, ...
[ -0.009744063019752502, 0.04687642678618431, 0, -0.34242531657218933, -0.01587793603539467, 0.3150562644004822, 0.0013376002898439765, 0.018377551808953285, 0.002649412490427494 ]
2.733333
82
0
82
0
[ -2.681318759918213, -100.43955993652344, 89.5824203491211, 80.43955993652344, 87.25274658203125, 2.350080966949463 ]
[ -2.8131868839263916, 0, 0, 0, -101.4065933227539, 1, -56, 0, 96.04395294189453, 13, 272, -26.373626708984375, 77.53845977783203, 2, -112, 0, 87.42857360839844, 0, 20, 0, 2.685821294784546, 1, 40, 0, 0, 0, -29.076967239379883, 0, 0, 0, 0, 71.3115005493164...
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2.766667
83
0
83
0
[ -2.769230842590332, -100.43955993652344, 88.52747344970703, 81.67032623291016, 87.25274658203125, 2.350080966949463 ]
[ -2.8131868839263916, 0, 0, 0, -101.4065933227539, 1, -56, 0, 94.9011001586914, 11, 252, -39.56044006347656, 78.06593322753906, 2, -136, 17.58241844177246, 87.42857360839844, 0, 20, 0, 2.685821294784546, 1, 32, 0, 0, 0, -34.2744026184082, 15.818954467773438, 0,...
[ -0.009771152399480343, 0.04687642678618431, 0, -0.46940773725509644, -0.021762102842330933, 0.44920411705970764, 0.0024809553287923336, 0.015233445912599564, 0.003628019941970706 ]
2.8
84
0
84
0
[ -2.857142925262451, -100.43955993652344, 87.47252655029297, 82.63735961914062, 87.25274658203125, 2.350080966949463 ]
[ -2.8131868839263916, 0, 0, 0, -101.4065933227539, 2, -56, 0, 93.67032623291016, 8, 232, -35.16483688354492, 78.94505310058594, 1, -128, 26.373626708984375, 87.42857360839844, 0, 20, 0, 2.685821294784546, 0, 36, 0, 0, 0, -36.75196838378906, 26.251405715942383, ...
[ -0.00978939887136221, 0.04687642678618431, 0, -0.7227520942687988, -0.03595283254981041, -0.5205591917037964, -0.001379128429107368, -0.04296140745282173, 0.005888453219085932 ]
2.833333
85
0
85
0
[ -2.9450550079345703, -100.17582702636719, 86.68132019042969, 83.34066009521484, 87.16483306884766, 2.350080966949463 ]
[ -2.8131868839263916, 0, 0, 0, -101.4065933227539, 2, -56, 0, 92.52747344970703, 9, 248, -30.769229888916016, 79.82417297363281, 1, -136, 26.373626708984375, 87.42857360839844, 0, 20, 0, 2.685821294784546, 1, 36, 0, 0, 0, -34.281402587890625, 26.370309829711914, ...
[ -0.0011112600332126021, 0.04687642678618431, 0, -0.17636260390281677, -0.012751874513924122, -2.133192539215088, -0.009449543431401253, -0.11149188876152039, 0.0019305568421259522 ]
2.866667
86
0
86
0
[ -2.9450550079345703, -99.47252655029297, 85.80220031738281, 83.6043930053711, 87.16483306884766, 2.350080966949463 ]
[ -2.8131868839263916, 1, 20, 0, -101.4065933227539, 2, -72, 0, 91.47252655029297, 7, 216, -30.769229888916016, 80.79120635986328, 1, -120, 26.373626708984375, 87.42857360839844, 0, 28, 0, 2.685821294784546, 1, 36, 0, 0, 0, -31.5677547454834, 28.937108993530273, ...
[ -0.0011051151668652892, 0.04687642678618431, 0, 0.15930798649787903, 0.0034043891355395317, -2.1754021644592285, -0.010319399647414684, -0.10167766362428665, -0.000737969356123358 ]
2.9
87
0
87
0
[ -2.9450550079345703, -99.38461303710938, 85.18681335449219, 83.78022003173828, 87.16483306884766, 2.350080966949463 ]
[ -2.8131868839263916, 0, 20, 0, -101.4065933227539, 2, -112, 0, 90.5054931640625, 7, 224, -26.373626708984375, 81.67032623291016, 0, -88, 26.373626708984375, 87.42857360839844, 0, 24, 0, 2.685821294784546, 1, 36, 0, 0, 0, -28.961332321166992, 26.32848358154297, ...
[ -0.00972304679453373, 0.04687642678618431, 0, 0.23523256182670593, 0.00969449058175087, -1.6273597478866577, -0.0032243861351162195, -0.07079428434371948, 0.00022926711244508624 ]
2.933333
88
0
88
0
[ -2.769230842590332, -99.29669952392578, 84.3956069946289, 83.78022003173828, 87.16483306884766, 2.350080966949463 ]
[ -2.8131868839263916, 0, 20, 0, -101.05494689941406, 1, -84, 13.186813354492188, 89.53845977783203, 10, 212, -26.373626708984375, 82.28571319580078, 1, -68, 17.58241844177246, 87.42857360839844, 0, 24, 0, 2.685821294784546, 0, 36, 0, 0, 10.539872169494629, -28.9846...
[ -0.009718245826661587, 0.04687642678618431, 0, 0.3714991509914398, 0.01618092879652977, -1.405039668083191, -0.004208620171993971, -0.05402114614844322, -0.0015151321422308683 ]
2.966667
89
0
89
0
[ -2.769230842590332, -99.12088012695312, 83.78022003173828, 83.78022003173828, 87.16483306884766, 2.350080966949463 ]
[ -2.8131868839263916, 0, -20, 0, -100.79120635986328, 1, -76, 8.79120922088623, 88.65933990478516, 6, 196, -26.373626708984375, 82.81318664550781, 0, -44, 13.186813354492188, 87.42857360839844, 0, 24, 0, 2.685821294784546, 0, 36, 0, 0, 7.870025634765625, -26.233417...
[ -0.0017212496604770422, 0.04687642678618431, 0, -3.0273971557617188, -0.1528562754392624, -3.396118640899658, 0.019755769520998, -0.8760142922401428, 0.02494123950600624 ]
3
90
0
90
0
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
            ]
        },
        "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.filtered/current",
                "shoulder_pan.estimated/tau_ext",
                "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.filtered/current",
                "shoulder_lift.estimated/tau_ext",
                "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.filtered/current",
                "elbow_flex.estimated/tau_ext",
                "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.filtered/current",
                "wrist_flex.estimated/tau_ext",
                "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.filtered/current",
                "wrist_roll.estimated/tau_ext",
                "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.filtered/current",
                "gripper.estimated/tau_ext",
                "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"
            ],
            "shape": [
                117
            ]
        },
        "observation.hpi": {
            "dtype": "float32",
            "names": [
                "hpi/gripper/tau_ext",
                "hpi/gripper/q",
                "hpi/gripper/dq",
                "tcp/wrench/fx",
                "tcp/wrench/fy",
                "tcp/wrench/fz",
                "tcp/wrench/tx",
                "tcp/wrench/ty",
                "tcp/wrench/tz"
            ],
            "shape": [
                9
            ]
        },
        "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
        }
    },
    "total_episodes": 3,
    "total_frames": 3594,
    "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": "0:3"
    }
}

Citation

BibTeX:

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