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action list | observation.state list | observation.tactile.left_deformation array 3D | observation.tactile.right_deformation array 3D | observation.tactile.left_force list | observation.tactile.right_force list | timestamp float32 0 19.8 | frame_index int64 0 1.19k | episode_index int64 0 0 | index int64 0 1.19k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|
[
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[
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[
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[
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[
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72.92308044433594,
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34.85888671875
] | [-29.36263656616211,-96.48351287841797,95.9120864868164,73.89010620117188,-96.57142639160156,31.3901(...TRUNCATED) | [[[-0.002730099717155099,0.001921035349369049],[-0.002003318630158901,0.001893498352728784],[-0.0016(...TRUNCATED) | [[[0.0011191833764314651,-0.002819267101585865],[0.0014402848901227117,-0.0028861428145319223],[0.00(...TRUNCATED) | [0.03492474928498268,-0.015300926752388477,-0.18295666575431824,0.04582133889198303,0.30173605680465(...TRUNCATED) | [0.0053622908890247345,-0.009229590184986591,-0.010665401816368103,0.08387637883424759,-0.0283925011(...TRUNCATED) | 0.083333 | 5 | 0 | 5 | 0 |
[
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97.4065933227539,
72.92308044433594,
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[
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[
-28,
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97.4065933227539,
72.92308044433594,
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34.85888671875
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[
-28,
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96,
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 60,
"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_cam": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 60,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.realsense": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 60,
"video.channels": 3,
"has_audio": false
}
},
"observation.tactile.left_deformation": {
"dtype": "float32",
"shape": [
288,
384,
2
],
"names": null
},
"observation.tactile.right_deformation": {
"dtype": "float32",
"shape": [
288,
384,
2
],
"names": null
},
"observation.tactile.left_force": {
"dtype": "float32",
"shape": [
6
],
"names": null
},
"observation.tactile.right_force": {
"dtype": "float32",
"shape": [
6
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
},
"total_episodes": 1,
"total_frames": 1186,
"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": "so_follower",
"splits": {
"train": "0:1"
}
}
Citation
BibTeX:
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