Datasets:
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action
list | observation.state
list | timestamp
float32 0
34.9
| frame_index
int64 0
1.05k
| episode_index
int64 0
49
| index
int64 0
37k
| task_index
int64 0
0
|
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90.88480377197266,
69.5849380493164,
2.7848494052886963,
6.992168426513672
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| 96
| 0
| 96
| 0
|
[
0.7959479093551636,
-99.74747467041016,
100,
71.96261596679688,
2.710622787475586,
3.326996088027954
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[
0.7124168276786804,
-100.01428985595703,
90.88480377197266,
69.58494567871094,
2.784904718399048,
6.9913458824157715
] | 3.233333
| 97
| 0
| 97
| 0
|
[
0.7959479093551636,
-99.74747467041016,
100,
71.96261596679688,
2.661782741546631,
3.326996088027954
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[
0.7133634686470032,
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90.88480377197266,
69.58495330810547,
2.785095453262329,
6.990638732910156
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| 98
| 0
| 98
| 0
|
[
0.7959479093551636,
-99.74747467041016,
100,
71.96261596679688,
2.661782741546631,
3.326996088027954
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[
0.7140981554985046,
-100.01428985595703,
90.88480377197266,
69.5849609375,
2.784992218017578,
6.989953994750977
] | 3.3
| 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": "gym_soarm",
"total_episodes": 50,
"total_frames": 37037,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:50"
},
"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",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.images.diagonal": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist.right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"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
}
}
}
Citation
BibTeX:
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