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action list | observation.state list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "romoya_lebai_follower",
"total_episodes": 2,
"total_frames": 1903,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:2"
},
"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",
"names": [
"joint1.pos",
"joint2.pos",
"joint3.pos",
"joint4.pos",
"joint5.pos",
"joint6.pos",
"gripper.pos",
"gripper.force",
"DO_0",
"DO_1",
"joint1.effort",
"joint2.effort",
"joint3.effort",
"joint4.effort",
"joint5.effort",
"joint6.effort",
"joint1.vel",
"joint2.vel",
"joint3.vel",
"joint4.vel",
"joint5.vel",
"joint6.vel",
"joint1.acc",
"joint2.acc",
"joint3.acc",
"joint4.acc",
"joint5.acc",
"joint6.acc",
"joint1.temp",
"joint1.voltage",
"joint2.temp",
"joint2.voltage",
"joint3.temp",
"joint3.voltage",
"joint4.temp",
"joint4.voltage",
"joint5.temp",
"joint5.voltage",
"joint6.temp",
"joint6.voltage",
"flange_voltage",
"tcp.x",
"tcp.y",
"tcp.z",
"tcp.rx",
"tcp.ry",
"tcp.rz"
],
"shape": [
47
]
},
"observation.state": {
"dtype": "float32",
"names": [
"joint1.pos",
"joint2.pos",
"joint3.pos",
"joint4.pos",
"joint5.pos",
"joint6.pos",
"gripper.pos",
"gripper.force",
"DO_0",
"DO_1",
"joint1.effort",
"joint2.effort",
"joint3.effort",
"joint4.effort",
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"joint6.effort",
"joint1.vel",
"joint2.vel",
"joint3.vel",
"joint4.vel",
"joint5.vel",
"joint6.vel",
"joint1.acc",
"joint2.acc",
"joint3.acc",
"joint4.acc",
"joint5.acc",
"joint6.acc",
"tcp.x",
"tcp.y",
"tcp.z",
"tcp.rx",
"tcp.ry",
"tcp.rz",
"joint1.temp",
"joint2.temp",
"joint3.temp",
"joint4.temp",
"joint5.temp",
"joint6.temp",
"joint1.voltage",
"joint2.voltage",
"joint3.voltage",
"joint4.voltage",
"joint5.voltage",
"joint6.voltage",
"flange_voltage",
"flange.x",
"flange.y",
"flange.z",
"flange.rx",
"flange.ry",
"flange.rz",
"target_joint1.pos",
"target_joint2.pos",
"target_joint3.pos",
"target_joint4.pos",
"target_joint5.pos",
"target_joint6.pos",
"target_joint1.vel",
"target_joint2.vel",
"target_joint3.vel",
"target_joint4.vel",
"target_joint5.vel",
"target_joint6.vel",
"target_joint1.acc",
"target_joint2.acc",
"target_joint3.acc",
"target_joint4.acc",
"target_joint5.acc",
"target_joint6.acc",
"target_joint1.effort",
"target_joint2.effort",
"target_joint3.effort",
"target_joint4.effort",
"target_joint5.effort",
"target_joint6.effort",
"target_tcp.x",
"target_tcp.y",
"target_tcp.z",
"target_tcp.rx",
"target_tcp.ry",
"target_tcp.rz"
],
"shape": [
83
]
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
1080,
1920,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 1080,
"video.width": 1920,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.top": {
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"shape": [
1080,
1920,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 1080,
"video.width": 1920,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.side": {
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"shape": [
1080,
1920,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 1080,
"video.width": 1920,
"video.codec": "h264",
"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
}
}
}
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