Search is not available for this dataset
action
list | observation.state
list | timestamp
float32 0
12.7
| frame_index
int64 0
380
| episode_index
int64 0
0
| index
int64 0
380
| task_index
int64 0
0
|
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1.2342003130313031e-18,
-2.6995415687561035,
-14.983829498291016,
-0.16357764601707458,
-1.6245173215866089,
0.00019950127170886844
] | 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": "xarm",
"total_episodes": 1,
"total_frames": 381,
"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": [
"delta_x",
"delta_y",
"delta_z",
"delta_rx",
"delta_ry",
"delta_rz",
"gripper"
],
"shape": [
7
]
},
"observation.state": {
"dtype": "float32",
"names": [
"joint1.pos",
"joint2.pos",
"joint3.pos",
"joint4.pos",
"joint5.pos",
"joint6.pos",
"gripper.pos",
"aa.x",
"aa.y",
"aa.z",
"aa.rx",
"aa.ry",
"aa.rz",
"prev.delta_x",
"prev.delta_y",
"prev.delta_z",
"prev.delta_rx",
"prev.delta_ry",
"prev.delta_rz",
"prev.gripper",
"joint1.vel",
"joint2.vel",
"joint3.vel",
"joint4.vel",
"joint5.vel",
"joint6.vel",
"joint1.acc",
"joint2.acc",
"joint3.acc",
"joint4.acc",
"joint5.acc",
"joint6.acc",
"joint1.effort",
"joint2.effort",
"joint3.effort",
"joint4.effort",
"joint5.effort",
"joint6.effort"
],
"shape": [
38
]
},
"observation.images.front": {
"dtype": "video",
"shape": [
540,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 540,
"video.width": 960,
"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": [
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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