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action list | observation.state list | observation.motor_currents list | observation.motor_velocities list | observation.depths.middle array 2D | timestamp float32 0 37.3 | frame_index int64 0 1.12k | episode_index int64 0 2 | index int64 0 2.43k | task_index int64 0 0 |
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[-7.956043720245361,-102.54945373535156,96.57142639160156,77.67032623291016,-87.95604705810547,1.577(...TRUNCATED) | [-7.824175834655762,-102.68132019042969,96.79120635986328,76.83516693115234,-87.16483306884766,2.208(...TRUNCATED) | [
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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": 3,
"total_frames": 2431,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:3"
},
"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": {
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"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left": {
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"shape": [
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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": {
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"video.codec": "h264",
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"video.channels": 3,
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}
},
"observation.images.above": {
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"shape": [
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3
],
"names": [
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"width",
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],
"info": {
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"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": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
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],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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