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nhmacwan
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record-single-arm-test22

Tasks:
Robotics
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< 1K
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LeRobot
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action
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observation.state
list
timestamp
float32
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2.5
frame_index
int64
0
75
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int64
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[ -110.76923370361328, -78.19779968261719, -2.769230842590332, -105.05494689941406, -100.52747344970703, 98.64315032958984 ]
1.933333
58
0
58
0
[ -128.92308044433594, -75.86813354492188, -2.3296704292297363, -474.4175720214844, -149.05494689941406, 100 ]
[ -110.76923370361328, -78.19779968261719, -2.769230842590332, -105.05494689941406, -100.52747344970703, 98.64315032958984 ]
1.966667
59
0
59
0
[ -128.92308044433594, -75.86813354492188, -2.3296704292297363, -474.4175720214844, -149.05494689941406, 100 ]
[ -110.76923370361328, -78.19779968261719, -2.769230842590332, -105.05494689941406, -100.52747344970703, 98.64315032958984 ]
2
60
0
60
0
[ -128.92308044433594, -75.86813354492188, -2.3296704292297363, -474.4175720214844, -149.05494689941406, 100 ]
[ -110.76923370361328, -78.19779968261719, -2.769230842590332, -105.05494689941406, -100.52747344970703, 98.64315032958984 ]
2.033333
61
0
61
0
[ -128.92308044433594, -75.86813354492188, -2.3296704292297363, -474.4175720214844, -149.05494689941406, 100 ]
[ -110.76923370361328, -78.19779968261719, -2.769230842590332, -105.05494689941406, -100.52747344970703, 98.64315032958984 ]
2.066667
62
0
62
0
[ -128.92308044433594, -75.86813354492188, -2.3296704292297363, -474.4175720214844, -149.05494689941406, 100 ]
[ -110.76923370361328, -78.19779968261719, -2.769230842590332, -105.05494689941406, -100.61538696289062, 98.64315032958984 ]
2.1
63
0
63
0
[ -128.92308044433594, -75.86813354492188, -2.3296704292297363, -474.4175720214844, -149.05494689941406, 100 ]
[ -110.76923370361328, -78.19779968261719, -2.769230842590332, -105.05494689941406, -100.61538696289062, 98.64315032958984 ]
2.133333
64
0
64
0
[ -128.92308044433594, -75.86813354492188, -2.3296704292297363, -474.4175720214844, -149.05494689941406, 100 ]
[ -110.76923370361328, -78.19779968261719, -2.769230842590332, -105.05494689941406, -100.61538696289062, 98.64315032958984 ]
2.166667
65
0
65
0
[ -128.92308044433594, -75.86813354492188, -2.3296704292297363, -474.4175720214844, -149.05494689941406, 100 ]
[ -110.76923370361328, -78.19779968261719, -2.769230842590332, -105.05494689941406, -100.61538696289062, 98.64315032958984 ]
2.2
66
0
66
0
[ -128.92308044433594, -75.86813354492188, -2.3296704292297363, -474.4175720214844, -149.05494689941406, 100 ]
[ -110.76923370361328, -78.19779968261719, -2.769230842590332, -105.05494689941406, -100.61538696289062, 98.64315032958984 ]
2.233333
67
0
67
0
[ -128.92308044433594, -75.86813354492188, -2.3296704292297363, -474.4175720214844, -149.05494689941406, 100 ]
[ -110.76923370361328, -78.19779968261719, -2.769230842590332, -105.05494689941406, -100.61538696289062, 98.64315032958984 ]
2.266667
68
0
68
0
[ -128.92308044433594, -75.86813354492188, -2.3296704292297363, -474.4175720214844, -149.05494689941406, 100 ]
[ -110.76923370361328, -78.19779968261719, -2.769230842590332, -105.05494689941406, -100.61538696289062, 98.64315032958984 ]
2.3
69
0
69
0
[ -128.92308044433594, -75.86813354492188, -2.3296704292297363, -474.4175720214844, -149.05494689941406, 100 ]
[ -110.76923370361328, -78.19779968261719, -2.769230842590332, -105.05494689941406, -100.61538696289062, 98.64315032958984 ]
2.333333
70
0
70
0
[ -128.92308044433594, -75.86813354492188, -2.3296704292297363, -474.4175720214844, -149.05494689941406, 100 ]
[ -110.76923370361328, -78.19779968261719, -2.769230842590332, -105.05494689941406, -100.61538696289062, 98.64315032958984 ]
2.366667
71
0
71
0
[ -128.92308044433594, -75.86813354492188, -2.3296704292297363, -474.4175720214844, -149.05494689941406, 100 ]
[ -110.76923370361328, -78.19779968261719, -2.769230842590332, -105.05494689941406, -100.61538696289062, 98.64315032958984 ]
2.4
72
0
72
0
[ -128.92308044433594, -75.86813354492188, -2.3296704292297363, -474.4175720214844, -149.05494689941406, 100 ]
[ -110.76923370361328, -78.19779968261719, -2.769230842590332, -105.05494689941406, -100.61538696289062, 98.64315032958984 ]
2.433333
73
0
73
0
[ -128.92308044433594, -75.86813354492188, -2.3296704292297363, -474.4175720214844, -149.05494689941406, 100 ]
[ -110.76923370361328, -78.19779968261719, -2.769230842590332, -105.05494689941406, -100.61538696289062, 98.64315032958984 ]
2.466667
74
0
74
0
[ -128.92308044433594, -75.86813354492188, -2.3296704292297363, -474.4175720214844, -149.05494689941406, 100 ]
[ -110.76923370361328, -78.19779968261719, -2.769230842590332, -105.05494689941406, -99.12088012695312, 98.64315032958984 ]
2.5
75
0
75
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so_follower",
    "total_episodes": 1,
    "total_frames": 76,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.images.front": {
            "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.top": {
            "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
            }
        },
        "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
        }
    }
}

Citation

BibTeX:

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