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action.pos list | action.velocity list | action.effort list | action.eef_pose list | observation.state.pos list | observation.state.velocity list | observation.state.effort list | observation.state.eef_pose list | timestamp float32 0 29.9 | frame_index int64 0 598 | episode_index int64 0 119 | index int64 0 35.6k | task_index int64 0 0 |
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0.91676926612854,
-0.6318929195404053,
0.04049404710531235
] | 4.95 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "arx5",
"total_episodes": 120,
"total_frames": 35566,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:120"
},
"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": {
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"names": [
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"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
],
"shape": [
7
]
},
"action.velocity": {
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"joint_1",
"joint_2",
"joint_3",
"joint_4",
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"joint_6"
],
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7
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},
"action.effort": {
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"joint_6"
],
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},
"action.eef_pose": {
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],
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7
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},
"observation.state.pos": {
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"joint_1",
"joint_2",
"joint_3",
"joint_4",
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"joint_6"
],
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7
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},
"observation.state.velocity": {
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"joint_2",
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],
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},
"observation.state.effort": {
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"names": [
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"joint_2",
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"joint_4",
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"joint_6"
],
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7
]
},
"observation.state.eef_pose": {
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"names": [
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"joint_2",
"joint_3",
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"joint_6"
],
"shape": [
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]
},
"observation.images.front": {
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"shape": [
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640,
3
],
"names": [
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],
"info": {
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"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
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"video.channels": 3,
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}
},
"observation.images.wrist": {
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"shape": [
480,
640,
3
],
"names": [
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"width",
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],
"info": {
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"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
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"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": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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