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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 85,
"total_frames": 21634,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 15,
"splits": {
"train": "0:85"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"joint_0_deg",
"joint_1_deg",
"joint_2_deg",
"joint_3_deg",
"joint_4_deg",
"joint_5_deg",
"joint_6_deg",
"gripper_0to1"
]
},
"observation.action": {
"dtype": "float32",
"shape": [
8
],
"names": [
"joint_0_deg",
"joint_1_deg",
"joint_2_deg",
"joint_3_deg",
"joint_4_deg",
"joint_5_deg",
"joint_6_deg",
"gripper_0to1"
]
},
"action": {
"dtype": "float32",
"shape": [
8
],
"names": [
"joint_0_deg",
"joint_1_deg",
"joint_2_deg",
"joint_3_deg",
"joint_4_deg",
"joint_5_deg",
"joint_6_deg",
"gripper_0to1"
]
},
"observation.images.wrist_left": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.third_people": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.digist1": {
"dtype": "video",
"shape": [
320,
240,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 320,
"video.width": 240,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.digist2": {
"dtype": "video",
"shape": [
320,
240,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 320,
"video.width": 240,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"language_instruction": {
"dtype": "string",
"shape": [
1
]
},
"is_first": {
"dtype": "bool",
"shape": [
1
]
},
"is_last": {
"dtype": "bool",
"shape": [
1
]
},
"is_terminal": {
"dtype": "bool",
"shape": [
1
]
},
"is_episode_successful": {
"dtype": "bool",
"shape": [
1
]
},
"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
}
}
}
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