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Datasets:
masato-ka
/
omx_bilateral_force_v2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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Dask
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float32
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149
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int64
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4.48k
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23
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int64
0
53k
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int64
0
2
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3
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[ -0.46398046612739563, -61.61172103881836, 53.94383239746094, 37.240535736083984, -0.9523809552192688, 48.620269775390625, 10.587804794311523, 22.033309936523438, 0.83612060546875, 1.4708023071289062, 7.25367546081543 ]
3.033333
91
0
91
0
[ -0.46398046612739563, -60.83028030395508, 53.74847412109375, 36.019535064697266, -0.9523809552192688, 46.984127044677734 ]
[ -0.46398046612739563, -61.61172103881836, 53.94383239746094, 37.240535736083984, -0.9523809552192688, 48.620269775390625, 11.189834594726562, 21.269821166992188, 0.8353805541992188, 0.5029754638671875, 8.243589401245117 ]
3.066667
92
0
92
0
[ -0.46398046612739563, -60.879119873046875, 53.74847412109375, 36.019535064697266, -0.9523809552192688, 46.984127044677734 ]
[ -0.46398046612739563, -61.61172103881836, 53.94383239746094, 37.240535736083984, -0.9523809552192688, 48.620269775390625, 11.833897590637207, 20.785064697265625, 0.9585723876953125, 0.5189571380615234, 8.266915321350098 ]
3.1
93
0
93
0
[ -0.46398046612739563, -60.83028030395508, 53.69963455200195, 36.019535064697266, -0.9523809552192688, 46.984127044677734 ]
[ -0.46398046612739563, -61.61172103881836, 53.94383239746094, 37.240535736083984, -0.9523809552192688, 48.620269775390625, 12.257061004638672, 20.226608276367188, 1.340576171875, 1.4458045959472656, 8.276830673217773 ]
3.133333
94
0
94
0
[ -0.46398046612739563, -60.83028030395508, 53.69963455200195, 36.019535064697266, -1.0012210607528687, 46.984127044677734 ]
[ -0.46398046612739563, -61.61172103881836, 53.94383239746094, 37.240535736083984, -0.9523809552192688, 48.620269775390625, 10.974883079528809, 22.0159912109375, 1.7234725952148438, 2.3998870849609375, 2.726881980895996 ]
3.166667
95
0
95
0
[ -0.46398046612739563, -60.83028030395508, 53.69963455200195, 36.019535064697266, -1.0012210607528687, 46.984127044677734 ]
[ -0.46398046612739563, -61.61172103881836, 53.94383239746094, 37.240535736083984, -0.9523809552192688, 48.620269775390625, 10.76308536529541, 23.199554443359375, 1.7121849060058594, 1.2935562133789062, 2.968038320541382 ]
3.2
96
0
96
0
[ -0.5128205418586731, -60.83028030395508, 53.69963455200195, 36.019535064697266, -1.0012210607528687, 46.984127044677734 ]
[ -0.46398046612739563, -61.61172103881836, 53.94383239746094, 37.240535736083984, -0.9523809552192688, 48.620269775390625, 10.072776794433594, 23.686569213867188, 4.813045501708984, 1.1051216125488281, 4.306784629821777 ]
3.233333
97
0
97
0
[ -0.5128205418586731, -60.83028030395508, 53.69963455200195, 36.019535064697266, -1.0012210607528687, 46.984127044677734 ]
[ -0.46398046612739563, -61.61172103881836, 53.94383239746094, 37.240535736083984, -0.9523809552192688, 48.620269775390625, 10.676766395568848, 25.093521118164062, 8.355712890625, 1.9496841430664062, 5.164002895355225 ]
3.266667
98
0
98
0
[ -0.5128205418586731, -60.83028030395508, 53.650794982910156, 36.019535064697266, -1.0012210607528687, 46.984127044677734 ]
[ -0.46398046612739563, -61.61172103881836, 53.94383239746094, 37.240535736083984, -0.9523809552192688, 48.595848083496094, 10.123859405517578, 25.18707275390625, 11.1512451171875, 0.8064002990722656, 5.9302825927734375 ]
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",
    "fps": 30,
    "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",
                "force.shoulder_pan",
                "force.shoulder_lift",
                "force.elbow_flex",
                "force.wrist_flex",
                "force.wrist_roll"
            ],
            "shape": [
                11
            ]
        },
        "observation.images.overhead": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
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        },
        "timestamp": {
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            "names": null
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        "frame_index": {
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        },
        "episode_index": {
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        "index": {
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            "names": null
        },
        "task_index": {
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            "names": null
        }
    },
    "total_episodes": 24,
    "total_frames": 52979,
    "total_tasks": 3,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "omx_follower",
    "splits": {
        "train": "0:24"
    }
}

Citation

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