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action list | observation.state list | observation.motor_currents list | observation.motor_velocities list | observation.depths.middle array 2D | timestamp float32 0 13.5 | frame_index int64 0 404 | episode_index int64 0 44 | index int64 0 14.1k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|
[-11.824175834655762,-101.18681335449219,82.15384674072266,79.73626708984375,-92.35164642333984,2.31(...TRUNCATED) | [-2.857142925262451,-100.70330047607422,96.74725341796875,69.45054626464844,-88.21977996826172,2.976(...TRUNCATED) | [
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[-15.95604419708252,-91.86813354492188,66.85713958740234,81.4065933227539,-92.96703338623047,2.31303(...TRUNCATED) | [
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[-16.571428298950195,-88.96703338623047,64.65933990478516,81.4065933227539,-92.96703338623047,2.3130(...TRUNCATED) | [
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[-16.923076629638672,-86.06593322753906,62.28571319580078,81.4065933227539,-92.87911987304688,2.3130(...TRUNCATED) | [
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[-17.450550079345703,-83.07691955566406,59.736263275146484,81.4065933227539,-92.70330047607422,2.313(...TRUNCATED) | [-13.84615421295166,-98.94505310058594,82.5934066772461,80.70330047607422,-92.61538696289062,2.97619(...TRUNCATED) | [
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[-18.065933227539062,-80.26373291015625,56.92307662963867,81.4065933227539,-92.61538696289062,2.3130(...TRUNCATED) | [-15.604395866394043,-95.25274658203125,78.63735961914062,81.05494689941406,-92.43955993652344,2.976(...TRUNCATED) | [
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[-18.769229888916016,-77.36264038085938,54.10988998413086,81.4065933227539,-92.52747344970703,2.3130(...TRUNCATED) | [-15.95604419708252,-91.29669952392578,73.62637329101562,81.14286041259766,-92.43955993652344,2.9761(...TRUNCATED) | [
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[-19.296703338623047,-74.63735961914062,51.38461685180664,81.4065933227539,-92.52747344970703,2.3130(...TRUNCATED) | [-16.483516693115234,-87.86813354492188,69.05494689941406,81.14286041259766,-92.61538696289062,2.976(...TRUNCATED) | [
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[-19.824174880981445,-72.17582702636719,48.83516311645508,81.4065933227539,-92.43955993652344,2.3130(...TRUNCATED) | [-17.714284896850586,-84.43955993652344,64.65933990478516,81.14286041259766,-92.43955993652344,2.976(...TRUNCATED) | [
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[-20.439559936523438,-69.71428680419922,46.19780349731445,81.4065933227539,-92.43955993652344,2.3130(...TRUNCATED) | [-18.41758155822754,-81.18681335449219,60.96703338623047,81.14286041259766,-92.43955993652344,2.9761(...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": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"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": {}
}
},
"observation.images.above": {
"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,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.right": {
"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,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.left": {
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"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,
"video.g": 2,
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"video.fast_decode": 0,
"video.video_backend": "pyav",
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}
},
"observation.images.middle": {
"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,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"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.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": 400,
"total_frames": 124624,
"total_tasks": 4,
"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": "0:400"
}
}
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