crislmfroes/smolvla-xarm6-sim-contact-cond
Robotics • Updated • 158
Search is not available for this dataset
observation.state listlengths 11 11 | action listlengths 7 7 | episode_index int64 0 1.8k | frame_index int64 0 514 | index int64 0 457k | task_index int64 0 5 | timestamp float32 0 17.1 |
|---|---|---|---|---|---|---|
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0.09303466230630875
] | [
0.0019310414791107178,
-0.005493238568305969,
0.001516088843345642,
-0.0010620186803862453,
-0.003340292489156127,
-0.00690368702635169,
1
] | 0 | 99 | 99 | 0 | 3.3 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "xarm6",
"total_episodes": 1799,
"total_frames": 456940,
"total_tasks": 6,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1799"
},
"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": {
"observation.images.wrist": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 30.0,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
11
],
"names": [
"px",
"py",
"pz",
"qw",
"qx",
"qy",
"qz",
"gripper",
"contact_px",
"contact_py",
"contact_pz"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper"
]
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
}
}
}
Citation
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