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action list | observation.state list | observation.depths.middle array 2D | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|
[56.83516311645508,-102.63735961914062,96.57142639160156,78.63735961914062,-71.78022003173828,1.3406(...TRUNCATED) | [-5.450549602508545,-102.76923370361328,96.43955993652344,76.65933990478516,-86.989013671875,2.44776(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1776,1781,1791,1796,1802,1812,1818,1828,1845,1856,1872,1(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[56.83516311645508,-102.63735961914062,96.57142639160156,78.63735961914062,-71.78022003173828,1.3406(...TRUNCATED) | [-5.274725437164307,-102.76923370361328,96.43955993652344,76.74725341796875,-86.72527313232422,2.388(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1741,1736,1736,1741,1746,1751,1751,1756,1756,1761,1766,176(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[56.83516311645508,-102.63735961914062,96.57142639160156,78.63735961914062,-71.78022003173828,1.3406(...TRUNCATED) | [-3.604395627975464,-102.76923370361328,96.43955993652344,77.27472686767578,-84.87911987304688,2.208(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1746,1746,1741,1741,1741,1741,1736,1736,1741,1746,1751,1(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[56.83516311645508,-102.63735961914062,96.57142639160156,78.63735961914062,-71.78022003173828,1.3406(...TRUNCATED) | [-0.2637362778186798,-102.76923370361328,96.43955993652344,77.36264038085938,-81.71428680419922,2.14(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1761,1761,1766,1761,1761,1761,1756,1756,1751,1741,1741,173(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[56.83516311645508,-102.63735961914062,96.57142639160156,78.63735961914062,-71.78022003173828,1.3406(...TRUNCATED) | [5.274725437164307,-102.76923370361328,96.43955993652344,77.53845977783203,-77.84615325927734,2.1492(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1776,1776,1776,1776,1776,1776,1781,1781,1786,1791,1796,180(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[56.83516311645508,-102.63735961914062,96.57142639160156,78.63735961914062,-71.78022003173828,1.3406(...TRUNCATED) | [12.219779968261719,-102.76923370361328,96.43955993652344,77.71428680419922,-75.47252655029297,2.149(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1741,1741,1741,1741,1746,1751,1761,1766,1776,1786,1807,182(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[56.83516311645508,-102.63735961914062,96.57142639160156,78.63735961914062,-71.78022003173828,1.3406(...TRUNCATED) | [20.395605087280273,-102.76923370361328,96.43955993652344,77.80220031738281,-74.15384674072266,2.149(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1771,1771,1776,1781,1781,1776,1776,1771,1771,1766,1771,177(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[56.83516311645508,-102.63735961914062,96.57142639160156,78.63735961914062,-71.78022003173828,1.3406(...TRUNCATED) | [29.010988235473633,-102.76923370361328,96.43955993652344,77.89010620117188,-73.45054626464844,2.149(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1776,1781,1781,1786,1791,1796,1802,1807,1818,1828,1839,1(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[56.83516311645508,-102.63735961914062,96.57142639160156,78.63735961914062,-71.78022003173828,1.3406(...TRUNCATED) | [37.27472686767578,-102.76923370361328,96.43955993652344,77.89010620117188,-72.92308044433594,2.1492(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1756,1756,1756,1756,1761,1766,1771,1776,1781,1786,1791,179(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[56.83516311645508,-102.63735961914062,96.57142639160156,78.63735961914062,-71.78022003173828,1.3406(...TRUNCATED) | [44.21977996826172,-102.76923370361328,96.43955993652344,77.89010620117188,-72.74725341796875,2.1492(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1741,1741,1741,1746,1751,1756,1766,1776,1786,1802,1812,182(...TRUNCATED) | 0.3 | 9 | 0 | 9 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 2,
"total_frames": 1258,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:2"
},
"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",
"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": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.middle": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
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"video.codec": "av1",
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"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
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],
"info": {
"video.height": 480,
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"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.codec": "av1",
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}
},
"observation.images.above": {
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480,
640,
3
],
"names": [
"height",
"width",
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],
"info": {
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"video.channels": 3,
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}
},
"observation.depths.middle": {
"dtype": "uint16",
"shape": [
480,
640
],
"names": [
"height",
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]
},
"timestamp": {
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1
],
"names": null
},
"frame_index": {
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1
],
"names": null
},
"episode_index": {
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1
],
"names": null
},
"index": {
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],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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