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Datasets:
masato-ka
/
omx_bilateral_bottole_v0

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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Dask
Polars
License:
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float32
0
33.2
frame_index
int64
0
997
episode_index
int64
0
13
index
int64
0
14k
task_index
int64
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[ -0.3663003742694855, -11.257631301879883, 9.30402946472168, 38.75457763671875, 4.3223443031311035, 51.03784942626953 ]
[ -1.0989011526107788, -12.283272743225098, 9.841269493103027, 38.9499397277832, 4.3223443031311035, 50.20756912231445, 14.610603332519531, 71.2472152709961, -5.999397277832031, 5.198692321777344, -0.04151982069015503 ]
3.133333
94
0
94
0
[ -0.17094017565250397, -10.818070411682129, 9.157508850097656, 38.75457763671875, 4.3223443031311035, 51.599510192871094 ]
[ -0.9035409092903137, -11.79487133026123, 9.79242992401123, 38.9499397277832, 4.371184349060059, 50.622711181640625, 15.068470001220703, 80.37313842773438, 6.9061279296875, 3.7705535888671875, -0.4563257694244385 ]
3.166667
95
0
95
0
[ 0.07326007634401321, -10.329669952392578, 9.01098918914795, 38.75457763671875, 4.3223443031311035, 52.21001052856445 ]
[ -0.7081807255744934, -11.355311393737793, 9.79242992401123, 38.9499397277832, 4.3223443031311035, 51.013431549072266, 12.961864471435547, 78.08979797363281, 6.564605712890625, 4.83197021484375, 0.48153960704803467 ]
3.2
96
0
96
0
[ 0.3174603283405304, -9.743589401245117, 8.766788482666016, 38.80341720581055, 4.3223443031311035, 53.0402946472168 ]
[ -0.5128205418586731, -10.818070411682129, 9.79242992401123, 38.9499397277832, 4.3223443031311035, 51.52625274658203, 11.195476531982422, 67.9040756225586, 11.615890502929688, 4.139322280883789, 0.5011098980903625 ]
3.233333
97
0
97
0
[ 0.5128205418586731, -9.157508850097656, 8.473748207092285, 38.80341720581055, 4.371184349060059, 54.017093658447266 ]
[ -0.3174603283405304, -10.329669952392578, 9.69474983215332, 38.9499397277832, 4.3223443031311035, 52.087913513183594, 8.122821807861328, 51.390380859375, 9.164276123046875, 3.164773941040039, 6.018975257873535 ]
3.266667
98
0
98
0
[ 0.6105006337165833, -8.717948913574219, 8.278388023376465, 38.80341720581055, 4.371184349060059, 54.43223571777344 ]
[ -0.07326007634401321, -9.743589401245117, 9.4993896484375, 38.9499397277832, 4.3223443031311035, 52.771671295166016, 0.1429901123046875, 46.825645446777344, 5.4886016845703125, -0.4672374725341797, 7.58695650100708 ]
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": [
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            "names": null
        },
        "frame_index": {
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        },
        "episode_index": {
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        "index": {
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            "names": null
        },
        "task_index": {
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            "names": null
        }
    },
    "total_episodes": 14,
    "total_frames": 13954,
    "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": "0:14"
    }
}

Citation

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