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float32
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33.2
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int64
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997
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[ -0.9035409092903137, -31.575092315673828, 49.05982971191406, -13.2600736618042, -3.8339438438415527, 58.901100158691406, -5.40353536605835, 5.014060974121094, -39.19738006591797, 7.9159698486328125, 2.9296722412109375 ]
3.166667
95
0
95
0
[ -0.8547008633613586, -30.061050415039062, 48.522586822509766, -19.072038650512695, -3.0525031089782715, 59.023197174072266 ]
[ -0.9035409092903137, -31.233211517333984, 49.05982971191406, -14.090353965759277, -3.7362637519836426, 58.901100158691406, -4.504598617553711, 10.391761779785156, -31.819320678710938, 8.017581939697266, 3.184803009033203 ]
3.2
96
0
96
0
[ -0.8058608174324036, -29.621490478515625, 48.47374725341797, -19.658119201660156, -3.0036630630493164, 58.998779296875 ]
[ -0.9035409092903137, -30.940170288085938, 49.05982971191406, -14.871794700622559, -3.5897436141967773, 58.901100158691406, -4.677515506744385, 9.357856750488281, -26.7518310546875, 2.387012481689453, 3.575533866882324 ]
3.233333
97
0
97
0
[ -0.8058608174324036, -29.133089065551758, 48.42490768432617, -20.293041229248047, -2.9059829711914062, 58.998779296875 ]
[ -0.9035409092903137, -30.598291397094727, 49.05982971191406, -15.65323543548584, -3.443223476409912, 58.901100158691406, -3.5543227195739746, 8.513816833496094, -24.598594665527344, 1.3743133544921875, 3.7189197540283203 ]
3.266667
98
0
98
0
[ -0.7570207715034485, -28.547008514404297, 48.376068115234375, -20.927961349487305, -2.808302879333496, 58.998779296875 ]
[ -0.9035409092903137, -30.207571029663086, 49.05982971191406, -16.434677124023438, -3.345543384552002, 58.901100158691406, -3.0895023345947266, 7.505516052246094, -27.26628875732422, -2.378589630126953, 3.6768035888671875 ]
3.3
99
0
99
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_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos",
                "force.shoulder_pan",
                "force.shoulder_lift",
                "force.elbow_flex",
                "force.wrist_flex",
                "force.wrist_roll"
            ],
            "shape": [
                11
            ]
        },
        "observation.images.overhead": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                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": 10,
    "total_frames": 9967,
    "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": "omx_follower",
    "splits": {
        "train": "0:10"
    }
}

Citation

BibTeX:

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