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float32
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12.8
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int64
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383
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[ 11.92296028137207, -8.185111045837402, -3.336263656616211, 2.5244765281677246, -0.6296239495277405, -0.9890109896659851, -15.879066467285156, 0.1119331493973732, -0.5264957547187805, 101.25226593017578, -6.8279218673706055, 4.027350425720215, 1.8031975030899048, -0.41974928975105286, -0....
3.266667
98
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98
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[ 10.633400917053223, 2.3059070110321045, -15.988350868225098, 101.79869079589844, 2.3277640342712402, -8.841132164001465, 9.912121772766113, -54.3472785949707 ]
[ 11.529535293579102, -14.481350898742676, -3.731868028640747, 2.5244765281677246, -0.6296239495277405, -0.9890109896659851, -15.879066467285156, -0.1119331493973732, -0.5128205418586731, 100.94627380371094, -7.051788330078125, 3.6991453170776367, 1.8469113111495972, 4.617242336273193, 0.1...
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": 35,
    "total_frames": 11381,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:35"
    },
    "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": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "joint_7.pos",
                "gripper.pos"
            ],
            "shape": [
                8
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint_1.pos",
                "joint_1.vel",
                "joint_1.torque",
                "joint_2.pos",
                "joint_2.vel",
                "joint_2.torque",
                "joint_3.pos",
                "joint_3.vel",
                "joint_3.torque",
                "joint_4.pos",
                "joint_4.vel",
                "joint_4.torque",
                "joint_5.pos",
                "joint_5.vel",
                "joint_5.torque",
                "joint_6.pos",
                "joint_6.vel",
                "joint_6.torque",
                "joint_7.pos",
                "joint_7.vel",
                "joint_7.torque",
                "gripper.pos",
                "gripper.vel",
                "gripper.torque"
            ],
            "shape": [
                24
            ]
        },
        "observation.images.cam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "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
        }
    }
}

Citation

BibTeX:

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