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Datasets:
Rick0331
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tablewares_sort_ik7

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
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xet
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float32
0
143
frame_index
int64
0
4.29k
episode_index
int64
0
14
index
int64
0
41k
task_index
int64
0
0
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[ 57.013824462890625, 4.076319217681885, -11.37653636932373, 95.21975708007812, 16.993770599365234, -8.753704071044922, -64.77304077148438, -49.16718292236328 ]
2.9
87
0
87
0
[ 65.25743103027344, 9.805384635925293, -19.162626266479492, 95.26555633544922, 25.556407928466797, -14.986230850219727, -67.9989242553711, -49.16718292236328 ]
[ 57.16682434082031, 4.863168716430664, -12.950236320495605, 95.21975708007812, 18.786039352416992, -9.802837371826172, -65.51617431640625, -49.16718292236328 ]
2.933333
88
0
88
0
[ 65.92119598388672, 10.562753677368164, -20.46971893310547, 95.26258087158203, 27.09538459777832, -15.954416275024414, -68.70863342285156, -49.16718292236328 ]
[ 57.319820404052734, 5.650018692016602, -14.458365440368652, 95.21975708007812, 20.14116859436035, -10.808256149291992, -66.25930786132812, -49.16718292236328 ]
2.966667
89
0
89
0
[ 66.5849609375, 11.320122718811035, -21.776809692382812, 95.25961303710938, 28.63435935974121, -16.9226016998291, -69.41834259033203, -49.16718292236328 ]
[ 57.51653289794922, 6.349440574645996, -15.879066467285156, 95.21975708007812, 21.824153900146484, -11.704390525817871, -66.9805908203125, -49.16718292236328 ]
3
90
0
90
0
[ 67.24872589111328, 12.077491760253906, -23.083900451660156, 95.25663757324219, 30.173336029052734, -17.890789031982422, -70.12805938720703, -49.16718292236328 ]
[ 57.86624526977539, 7.180004596710205, -17.4090518951416, 95.21975708007812, 23.2885684967041, -12.731666564941406, -67.7455825805664, -49.16718292236328 ]
3.033333
91
0
91
0
[ 67.9124984741211, 12.834859848022461, -24.3909912109375, 95.253662109375, 31.712310791015625, -18.85897445678711, -70.8377685546875, -49.16718292236328 ]
[ 58.303382873535156, 7.966854095458984, -18.76418113708496, 95.21975708007812, 24.862268447875977, -13.605944633483887, -68.37943267822266, -49.16718292236328 ]
3.066667
92
0
92
0
[ 68.57626342773438, 13.592228889465332, -25.698083877563477, 95.25069427490234, 33.251285552978516, -19.827159881591797, -71.54747772216797, -49.16718292236328 ]
[ 58.76237869262695, 8.753704071044922, -20.010026931762695, 95.21975708007812, 26.41411018371582, -14.458365440368652, -69.078857421875, -49.16718292236328 ]
3.1
93
0
93
0
[ 69.24002838134766, 14.349597930908203, -27.00517463684082, 95.24771881103516, 34.79026412963867, -20.795345306396484, -72.25718688964844, -49.16718292236328 ]
[ 59.28694534301758, 9.54055404663086, -21.29958724975586, 95.21975708007812, 27.703670501708984, -15.441926956176758, -69.73456573486328, -49.16718292236328 ]
3.133333
94
0
94
0
[ 69.90379333496094, 15.106966972351074, -28.312265396118164, 95.24474334716797, 36.32923889160156, -21.763530731201172, -72.96690368652344, -49.16718292236328 ]
[ 59.94265365600586, 10.414831161499023, -22.69843101501465, 95.21975708007812, 29.495939254760742, -16.447345733642578, -70.47769927978516, -49.16718292236328 ]
3.166667
95
0
95
0
[ 70.56756591796875, 15.864335060119629, -29.619356155395508, 95.24176788330078, 37.86821365356445, -22.731718063354492, -73.6766128540039, -49.16718292236328 ]
[ 60.554649353027344, 11.09239673614502, -23.96613311767578, 95.21975708007812, 30.807355880737305, -17.4090518951416, -71.198974609375, -49.16718292236328 ]
3.2
96
0
96
0
[ 71.23133087158203, 16.6217041015625, -30.926448822021484, 95.23880004882812, 39.407188415527344, -23.69990348815918, -74.38632202148438, -49.16718292236328 ]
[ 61.16664505004883, 11.835532188415527, -25.233835220336914, 95.21975708007812, 32.49034118652344, -18.348899841308594, -71.81097412109375, -49.16718292236328 ]
3.233333
97
0
97
0
[ 71.89509582519531, 17.379072189331055, -32.23353958129883, 95.23582458496094, 40.9461669921875, -24.668088912963867, -75.09603881835938, -49.16718292236328 ]
[ 61.88792419433594, 12.753523826599121, -26.676393508911133, 95.21975708007812, 33.889183044433594, -19.441747665405273, -72.55410766601562, -49.16718292236328 ]
3.266667
98
0
98
0
[ 72.5588607788086, 18.136442184448242, -33.54063034057617, 95.23284912109375, 42.48514175415039, -25.636274337768555, -75.80574798583984, -49.16718292236328 ]
[ 62.54362869262695, 13.562230110168457, -27.944095611572266, 95.21975708007812, 35.615882873535156, -20.316024780273438, -73.2098159790039, -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": 15,
    "total_frames": 41022,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:15"
    },
    "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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                1280,
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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": {
            "dtype": "int64",
            "shape": [
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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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