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action list | observation.state list | observation.motor_currents list | observation.motor_velocities list | observation.depths.middle array 2D | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|
[0.8351648449897766,-102.46154022216797,96.57142639160156,77.84615325927734,-79.6043930053711,1.3406(...TRUNCATED) | [
-8,
-102.76923370361328,
96.79120635986328,
77.62637329101562,
-73.89010620117188,
2.7462687492370605
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[0.8351648449897766,-102.46154022216797,96.57142639160156,77.84615325927734,-79.6043930053711,1.3406(...TRUNCATED) | [
-8,
-102.76923370361328,
96.79120635986328,
77.62637329101562,
-73.89010620117188,
2.7462687492370605
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2,
2
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[0.8351648449897766,-102.46154022216797,96.57142639160156,77.84615325927734,-79.6043930053711,1.3406(...TRUNCATED) | [0.4395604431629181,-102.85713958740234,96.79120635986328,77.62637329101562,-79.16483306884766,2.208(...TRUNCATED) | [
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] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1776,1776,1781,1786,1796,1812,1823,1834,1856,1872,1890,1(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[0.8351648449897766,-102.46154022216797,96.57142639160156,77.84615325927734,-79.6043930053711,1.3406(...TRUNCATED) | [0.4395604431629181,-102.85713958740234,96.79120635986328,77.62637329101562,-79.16483306884766,2.208(...TRUNCATED) | [
1,
1,
0,
0,
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2
] | [
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0,
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] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1751,1751,1751,1756,1761,1761,1766,1771,1776,1786,1791,180(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[0.8351648449897766,-102.46154022216797,96.57142639160156,77.84615325927734,-79.6043930053711,1.3406(...TRUNCATED) | [0.4395604431629181,-102.85713958740234,96.79120635986328,77.62637329101562,-79.16483306884766,2.208(...TRUNCATED) | [
1,
1,
0,
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2
] | [
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0
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1756,1756,1756,1761,1766,1776,1781,1791,1796,1807,1812,1(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[0.8351648449897766,-102.46154022216797,96.57142639160156,77.84615325927734,-79.6043930053711,1.3406(...TRUNCATED) | [0.4395604431629181,-102.85713958740234,96.79120635986328,77.62637329101562,-79.16483306884766,2.208(...TRUNCATED) | [
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[0.8351648449897766,-102.46154022216797,96.57142639160156,77.84615325927734,-79.6043930053711,1.3406(...TRUNCATED) | [0.4395604431629181,-102.85713958740234,96.79120635986328,77.62637329101562,-79.16483306884766,2.208(...TRUNCATED) | [
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[0.8351648449897766,-102.46154022216797,96.57142639160156,77.84615325927734,-79.6043930053711,1.3406(...TRUNCATED) | [0.4395604431629181,-102.85713958740234,96.79120635986328,77.62637329101562,-79.16483306884766,2.208(...TRUNCATED) | [
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1,
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[0.8351648449897766,-102.46154022216797,96.57142639160156,77.84615325927734,-79.6043930053711,1.3406(...TRUNCATED) | [0.4395604431629181,-102.85713958740234,96.79120635986328,77.62637329101562,-79.16483306884766,2.208(...TRUNCATED) | [
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] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1746,1751,1751,1751,1756,1766,1771,1776,1781,1791,1796,1(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[0.8351648449897766,-102.46154022216797,96.57142639160156,77.84615325927734,-79.6043930053711,1.3406(...TRUNCATED) | [0.4395604431629181,-102.85713958740234,96.79120635986328,77.62637329101562,-79.16483306884766,2.208(...TRUNCATED) | [
0,
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1,
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1,
3
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 8,
"total_frames": 6362,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:8"
},
"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": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.images.wrist": {
"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
}
},
"observation.images.middle": {
"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
}
},
"observation.images.left": {
"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
}
},
"observation.images.right": {
"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
}
},
"observation.images.above": {
"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
}
},
"observation.motor_currents": {
"dtype": "int32",
"names": [
"shoulder_pan.current",
"shoulder_lift.current",
"elbow_flex.current",
"wrist_flex.current",
"wrist_roll.current",
"gripper.current"
],
"shape": [
6
]
},
"observation.motor_velocities": {
"dtype": "int32",
"names": [
"shoulder_pan.velocity",
"shoulder_lift.velocity",
"elbow_flex.velocity",
"wrist_flex.velocity",
"wrist_roll.velocity",
"gripper.velocity"
],
"shape": [
6
]
},
"observation.depths.middle": {
"dtype": "uint16",
"shape": [
480,
640
],
"names": [
"height",
"width"
]
},
"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
}
}
}
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