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timestamp
float32
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8.37
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3
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[ 0.5425378680229187, -0.01865943893790245, 2.3886477947235107, -1.1107938289642334, 1.5916368961334229, 0.6252649426460266, 0.0014851351734250784 ]
[ 0.541759729385376, 0.024555683135986328, 2.3358592987060547, -1.0507768392562866, 1.5746331214904785, 0.675281286239624, -0.10387657582759857 ]
3.2
96
0
96
0
[ 0.5421783328056335, -0.00044341632747091353, 2.365638017654419, -1.0844404697418213, 1.5843385457992554, 0.6460456252098083, 0.0014851351734250784 ]
[ 0.541759729385376, 0.04450717568397522, 2.306699514389038, -1.0108933448791504, 1.568494200706482, 0.6967675089836121, -0.10234184563159943 ]
3.233333
97
0
97
0
[ 0.5415071845054626, 0.01877927966415882, 2.3402793407440186, -1.051795482635498, 1.5775554180145264, 0.6671498417854309, 0.0014851351734250784 ]
[ 0.5402250289916992, 0.06445866823196411, 2.2775394916534424, -0.9679418802261353, 1.5623552799224854, 0.7151842713356018, -0.10080711543560028 ]
3.266667
98
0
98
0
[ 0.5410877466201782, 0.03976365923881531, 2.311337471008301, -1.0131943225860596, 1.571083903312683, 0.6882180571556091, 0.0014851351734250784 ]
[ 0.5402250289916992, 0.08287543058395386, 2.246845006942749, -0.9249904155731201, 1.5608205795288086, 0.7305315732955933, -0.09927238523960114 ]
3.3
99
0
99
0
[ 0.5408121347427368, 0.05790777504444122, 2.2839536666870117, -0.975132405757904, 1.5668056011199951, 0.7063142657279968, 0.0014851351734250784 ]
[ 0.5386902689933777, 0.09822273254394531, 2.2146155834198, -0.8866409063339233, 1.5592858791351318, 0.7458788752555847, -0.09159873425960541 ]
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "omy_f3m",
    "total_episodes": 3,
    "total_frames": 519,
    "total_tasks": 3,
    "total_videos": 9,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "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
        },
        "observation.images.cam_wrist": {
            "dtype": "video",
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                480,
                848,
                3
            ],
            "info": {
                "video.height": 480,
                "video.width": 848,
                "video.channels": 3,
                "video.codec": "libx264",
                "video.pix_fmt": "yuv420p"
            }
        },
        "observation.images.cam_top": {
            "dtype": "video",
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                480,
                640,
                3
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "libx264",
                "video.pix_fmt": "yuv420p"
            }
        },
        "observation.images.cam_side": {
            "dtype": "video",
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                480,
                640,
                3
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "libx264",
                "video.pix_fmt": "yuv420p"
            }
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint1",
                "joint2",
                "joint3",
                "joint4",
                "joint5",
                "joint6",
                "rh_r1_joint"
            ],
            "shape": [
                7
            ]
        },
        "action": {
            "dtype": "float32",
            "names": [
                "joint1",
                "joint2",
                "joint3",
                "joint4",
                "joint5",
                "joint6",
                "rh_r1_joint"
            ],
            "shape": [
                7
            ]
        }
    }
}

Citation

BibTeX:

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