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Datasets:
Rick0331
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tablewares_sort_ik12

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
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parquet
Size:
10K - 100K
Tags:
LeRobot
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Polars
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float32
0
223
frame_index
int64
0
6.68k
episode_index
int64
0
18
index
int64
0
59.1k
task_index
int64
0
0
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[ 47.95132827758789, 4.289422988891602, -1.8856258392333984, 102.3422622680664, 2.388167142868042, -1.0627062320709229, -67.74337005615234, -49.16718292236328 ]
[ 49.342041015625, 7.660857200622559, 0.6229227781295776, 100.74955749511719, 3.1364707946777344, 1.081918478012085, -65.297607421875, -49.16718292236328 ]
3
90
0
90
0
[ 47.62125015258789, 4.067780017852783, -2.1489627361297607, 102.44863891601562, 2.2676310539245605, -1.2800748348236084, -68.45221710205078, -49.16718292236328 ]
[ 48.99232864379883, 7.5078582763671875, 0.2732117474079132, 100.74955749511719, 3.005329132080078, 0.8633490800857544, -66.12816619873047, -49.16718292236328 ]
3.033333
91
0
91
0
[ 47.29117202758789, 3.8461368083953857, -2.412299633026123, 102.55501556396484, 2.1470947265625, -1.4974435567855835, -69.16106414794922, -49.16718292236328 ]
[ 48.708187103271484, 7.420430660247803, -0.07649928331375122, 100.74955749511719, 2.9616153240203857, 0.6229227781295776, -66.78387451171875, -49.16718292236328 ]
3.066667
92
0
92
0
[ 46.96109390258789, 3.6244938373565674, -2.6756365299224854, 102.66138458251953, 2.0265586376190186, -1.714812159538269, -69.86991119384766, -49.16718292236328 ]
[ 48.380332946777344, 7.420430660247803, -0.5136380791664124, 100.74955749511719, 2.93975830078125, 0.3824964165687561, -67.3958740234375, -49.16718292236328 ]
3.1
93
0
93
0
[ 46.63101577758789, 3.40285062789917, -2.9389731884002686, 102.76776123046875, 1.906022548675537, -1.9321807622909546, -70.5787582397461, -49.16718292236328 ]
[ 48.0524787902832, 7.420430660247803, -0.8852060437202454, 100.74955749511719, 2.8086166381835938, 0.16392704844474792, -68.07343292236328, -49.16718292236328 ]
3.133333
94
0
94
0
[ 46.30093765258789, 3.1812076568603516, -3.202310085296631, 102.87413787841797, 1.7854863405227661, -2.1495494842529297, -71.28760528564453, -49.16718292236328 ]
[ 47.57162857055664, 7.398573875427246, -1.1037753820419312, 100.74955749511719, 2.72118878364563, 0.010928469710052013, -68.72914123535156, -49.16718292236328 ]
3.166667
95
0
95
0
[ 45.97085952758789, 2.959564447402954, -3.465646982192993, 102.98050689697266, 1.6649502515792847, -2.3669180870056152, -71.99645233154297, -49.16718292236328 ]
[ 47.22191619873047, 7.398573875427246, -1.2567739486694336, 100.74955749511719, 2.568190336227417, -0.20764091610908508, -69.45042419433594, -49.16718292236328 ]
3.2
96
0
96
0
[ 45.64078140258789, 2.7379214763641357, -3.7289838790893555, 103.08688354492188, 1.5444140434265137, -2.584286689758301, -72.7052993774414, -49.16718292236328 ]
[ 46.7847785949707, 7.136290550231934, -1.2567739486694336, 100.74955749511719, 2.415191650390625, -0.40435338020324707, -70.2591323852539, -49.16718292236328 ]
3.233333
97
0
97
0
[ 45.31070327758789, 2.5162782669067383, -3.9923207759857178, 103.1932601928711, 1.4238779544830322, -2.8016552925109863, -73.41414642333984, -49.16718292236328 ]
[ 46.47877883911133, 6.83029317855835, -1.2567739486694336, 100.74955749511719, 2.284050226211548, -0.6447796821594238, -70.95854949951172, -49.16718292236328 ]
3.266667
98
0
98
0
[ 44.98062515258789, 2.29463529586792, -4.25565767288208, 103.29963684082031, 1.3033417463302612, -3.019023895263672, -74.12298583984375, -49.16718292236328 ]
[ 46.17278289794922, 6.502439498901367, -1.3004878759384155, 100.74955749511719, 2.0873377323150635, -0.8633490800857544, -71.59239959716797, -49.16718292236328 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "openarm_follower",
    "total_episodes": 19,
    "total_frames": 59147,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:19"
    },
    "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": [
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            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "joint_7.pos",
                "gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "joint_7.pos",
                "gripper.pos"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "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": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

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