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action list | observation.state list | observation.motor_currents list | observation.motor_velocities list | observation.sensor_timestamps list | observation.depths.middle array 2D | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|
[-1.582417607307434,-102.19779968261719,96.74725341796875,76.83516693115234,-87.6043930053711,1.7996(...TRUNCATED) | [-1.7582417726516724,-101.93406677246094,96.26373291015625,76.48351287841797,-88.04395294189453,2.41(...TRUNCATED) | [
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[-1.582417607307434,-102.19779968261719,96.74725341796875,76.83516693115234,-87.6043930053711,1.7996(...TRUNCATED) | [-1.7582417726516724,-101.93406677246094,96.26373291015625,76.48351287841797,-88.04395294189453,2.41(...TRUNCATED) | [
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[-1.582417607307434,-102.19779968261719,96.74725341796875,76.83516693115234,-87.6043930053711,1.7996(...TRUNCATED) | [-1.7582417726516724,-101.93406677246094,96.26373291015625,76.48351287841797,-88.04395294189453,2.41(...TRUNCATED) | [
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[-1.582417607307434,-102.19779968261719,96.74725341796875,76.83516693115234,-87.6043930053711,1.7996(...TRUNCATED) | [-1.7582417726516724,-101.93406677246094,96.26373291015625,76.48351287841797,-88.04395294189453,2.41(...TRUNCATED) | [
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[-1.582417607307434,-102.19779968261719,96.74725341796875,76.83516693115234,-87.6043930053711,1.7996(...TRUNCATED) | [-1.7582417726516724,-101.93406677246094,96.26373291015625,76.48351287841797,-88.04395294189453,2.41(...TRUNCATED) | [
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[-1.582417607307434,-102.19779968261719,96.74725341796875,76.83516693115234,-87.6043930053711,1.7996(...TRUNCATED) | [-1.7582417726516724,-101.93406677246094,96.26373291015625,76.48351287841797,-88.04395294189453,2.41(...TRUNCATED) | [
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[-1.582417607307434,-102.19779968261719,96.74725341796875,76.83516693115234,-87.6043930053711,1.7996(...TRUNCATED) | [-1.7582417726516724,-101.93406677246094,96.26373291015625,76.48351287841797,-88.04395294189453,2.41(...TRUNCATED) | [
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[-1.582417607307434,-102.19779968261719,96.74725341796875,76.83516693115234,-87.6043930053711,1.7996(...TRUNCATED) | [-1.7582417726516724,-101.93406677246094,96.26373291015625,76.48351287841797,-88.04395294189453,2.41(...TRUNCATED) | [
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[-1.582417607307434,-102.19779968261719,96.74725341796875,76.83516693115234,-87.6043930053711,1.7996(...TRUNCATED) | [-1.7582417726516724,-101.93406677246094,96.26373291015625,76.48351287841797,-88.04395294189453,2.41(...TRUNCATED) | [
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[-1.582417607307434,-102.19779968261719,96.74725341796875,76.83516693115234,-87.6043930053711,1.7996(...TRUNCATED) | [-1.7582417726516724,-101.93406677246094,96.26373291015625,76.48351287841797,-88.04395294189453,2.41(...TRUNCATED) | [
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"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_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 30,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {
"bf": 0
}
}
},
"observation.images.middle": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 30,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {
"bf": 0
}
}
},
"observation.images.above": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 30,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {
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}
}
},
"observation.images.right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 30,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {
"bf": 0
}
}
},
"observation.images.left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 30,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {
"bf": 0
}
}
},
"observation.motor_currents": {
"dtype": "int32",
"names": [
"shoulder_pan.current",
"shoulder_lift.current",
"elbow_flex.current",
"wrist_flex.current",
"wrist_roll.current",
"gripper.current"
],
"shape": [
6
]
},
"observation.motor_velocities": {
"dtype": "int32",
"names": [
"shoulder_pan.velocity",
"shoulder_lift.velocity",
"elbow_flex.velocity",
"wrist_flex.velocity",
"wrist_roll.velocity",
"gripper.velocity"
],
"shape": [
6
]
},
"observation.sensor_timestamps": {
"dtype": "float64",
"names": [
"motor_positions.perf_counter_s",
"motor_currents.perf_counter_s",
"motor_velocities.perf_counter_s",
"camera.wrist.perf_counter_s",
"camera.middle.perf_counter_s",
"camera.above.perf_counter_s",
"camera.right.perf_counter_s",
"camera.left.perf_counter_s"
],
"shape": [
8
]
},
"observation.depths.middle": {
"dtype": "uint16",
"shape": [
480,
640
],
"names": [
"height",
"width"
]
},
"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": 13,
"total_frames": 8670,
"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": "0:13"
}
}
Citation
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