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Datasets:
xenorobotics
/
subroutine_full_1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
SO-100
robotics
towel-folding
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
subroutine_full_1
File size: 2,373 Bytes 
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{
  "codebase_version": "v2.0",
  "robot_type": "bi_so100_follower",
  "total_episodes": 51,
  "total_frames": 21642,
  "total_tasks": 1,
  "total_videos": 51,
  "total_chunks": 1,
  "chunks_size": 1000,
  "fps": 15,
  "splits": {
    "train": "0:51"
  },
  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
  "features": {
    "observation.images.front": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.fps": 15,
        "video.codec": "av1",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
        12
      ],
      "names": [
        "left_shoulder_pan.pos",
        "left_shoulder_lift.pos",
        "left_elbow_flex.pos",
        "left_wrist_flex.pos",
        "left_wrist_roll.pos",
        "left_gripper.pos",
        "right_shoulder_pan.pos",
        "right_shoulder_lift.pos",
        "right_elbow_flex.pos",
        "right_wrist_flex.pos",
        "right_wrist_roll.pos",
        "right_gripper.pos"
      ]
    },
    "action": {
      "dtype": "float32",
      "shape": [
        12
      ],
      "names": [
        "left_shoulder_pan.pos",
        "left_shoulder_lift.pos",
        "left_elbow_flex.pos",
        "left_wrist_flex.pos",
        "left_wrist_roll.pos",
        "left_gripper.pos",
        "right_shoulder_pan.pos",
        "right_shoulder_lift.pos",
        "right_elbow_flex.pos",
        "right_wrist_flex.pos",
        "right_wrist_roll.pos",
        "right_gripper.pos"
      ]
    },
    "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
    }
  }
}