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Datasets:
mi-kicic
/
xarm7_ds12

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
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pandas
Polars
License:
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xet
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action
list
observation.state
list
timestamp
float32
0
4.27
frame_index
int64
0
128
episode_index
int64
0
0
index
int64
0
128
task_index
int64
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[ -2.319499969482422, -2.0078001022338867, -1.78410005569458, 1.9648000001907349, -0.5942000150680542, 2.5638999938964844, -3.538800001144409, 0.06880000233650208 ]
3
90
0
90
0
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[ -2.3208000659942627, -2.009500026702881, -1.7817000150680542, 1.9643000364303589, -0.5932999849319458, 2.56030011177063, -3.5434000492095947, 0.06880000233650208 ]
3.033333
91
0
91
0
[ -2.2170095443725586, -2.0359997749328613, -1.8687959909439087, 1.991301417350769, -0.5767768025398254, 2.2025928497314453, -3.637068510055542, 0 ]
[ -2.3208000659942627, -2.009500026702881, -1.7817000150680542, 1.9643000364303589, -0.5932999849319458, 2.56030011177063, -3.5434000492095947, 0.06880000233650208 ]
3.066667
92
0
92
0
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[ -2.323499917984009, -2.012399911880493, -1.7776999473571777, 1.9629000425338745, -0.5925999879837036, 2.5497000217437744, -3.5409998893737793, 0.07249999791383743 ]
3.1
93
0
93
0
[ -2.2170095443725586, -2.0359997749328613, -1.8687959909439087, 1.991301417350769, -0.5767768025398254, 2.2025928497314453, -3.637068510055542, 0 ]
[ -2.323499917984009, -2.012399911880493, -1.7776999473571777, 1.9629000425338745, -0.5925999879837036, 2.5497000217437744, -3.5409998893737793, 0.07249999791383743 ]
3.133333
94
0
94
0
[ -2.2170095443725586, -2.0359997749328613, -1.8687959909439087, 1.991301417350769, -0.5767768025398254, 2.2025928497314453, -3.637068510055542, 0 ]
[ -2.323499917984009, -2.012399911880493, -1.7776999473571777, 1.9629000425338745, -0.5925999879837036, 2.5497000217437744, -3.5409998893737793, 0.07249999791383743 ]
3.166667
95
0
95
0
[ -2.2170095443725586, -2.0359997749328613, -1.8687959909439087, 1.991301417350769, -0.5767768025398254, 2.2025928497314453, -3.637068510055542, 0 ]
[ -2.325000047683716, -2.0137999057769775, -1.7755999565124512, 1.9622999429702759, -0.5913000106811523, 2.5462000370025635, -3.536799907684326, 0.07159999758005142 ]
3.2
96
0
96
0
[ -2.2170095443725586, -2.0359997749328613, -1.8687959909439087, 1.991301417350769, -0.5767768025398254, 2.2025928497314453, -3.637068510055542, 0 ]
[ -2.3264000415802, -2.0151000022888184, -1.773800015449524, 1.9616999626159668, -0.5906000137329102, 2.5427000522613525, -3.5346999168395996, 0.07119999825954437 ]
3.233333
97
0
97
0
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[ -2.327899932861328, -2.016400098800659, -1.7720999717712402, 1.961300015449524, -0.5900999903678894, 2.5388998985290527, -3.5329999923706055, 0.07169999927282333 ]
3.266667
98
0
98
0
[ -2.2170095443725586, -2.0359997749328613, -1.8687959909439087, 1.991301417350769, -0.5767768025398254, 2.2025928497314453, -3.63858699798584, 0 ]
[ -2.327899932861328, -2.016400098800659, -1.7720999717712402, 1.961300015449524, -0.5900999903678894, 2.5388998985290527, -3.5329999923706055, 0.07169999927282333 ]
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": "ros2",
    "total_episodes": 1,
    "total_frames": 129,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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": [
                "joint1.pos",
                "joint2.pos",
                "joint3.pos",
                "joint4.pos",
                "joint5.pos",
                "joint6.pos",
                "joint7.pos",
                "gripper.pos"
            ],
            "shape": [
                8
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint1.pos",
                "joint2.pos",
                "joint3.pos",
                "joint4.pos",
                "joint5.pos",
                "joint6.pos",
                "joint7.pos",
                "drive_joint.pos"
            ],
            "shape": [
                8
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
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                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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