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float32
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6.37
frame_index
int64
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191
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3.2
96
0
96
0
[ 1.890625238418579, 1.2349170446395874, 2.131051540374756, 0.032785408198833466, 0, 0, 0, 0, 2.852330446243286, 1.5846281051635742, -2.7430458068847656, 5.125452041625977, 11.157967567443848, 0.010928469710052013, 8.31656551361084, -40.14026641845703 ]
[ 1.890625238418579, -0.6296239495277405, -0.14505495131015778, 1.1037753820419312, -0.6296239495277405, 0.43516483902931213, 2.0873377323150635, -0.3357994258403778, 0.08888889104127884, 0.032785408198833466, -0.1119331493973732, -0.047863248735666275, -0.05464234575629234, -0.41974928975105286, 0.012210012413561344, 0.032785408198833466, -0.41974928975105286, -0.041514042764902115, -0.25135478377342224, -1.259247899055481, 0.09035409241914749, -0.9070629477500916, -1.259247899055481, 0.24175824224948883, 2.6774749755859375, -0.6296239495277405, 0.6197802424430847, 1.409772515296936, -0.6296239495277405, 0.593406617641449, -2.786759614944458, -0.1119331493973732, 0.11623931676149368, 5.038024425506592, -0.1119331493973732, 0.2666666805744171, 11.136110305786133, -0.41974928975105286, -0.0024420025292783976, 0.032785408198833466, 0.41974928975105286, -0.03663003817200661, 7.966854095458984, -1.259247899055481, 0.13919414579868317, -37.80157470703125, -0.41974928975105286, -0.6715506911277771 ]
3.233333
97
0
97
0
[ 1.890625238418579, 1.2349170446395874, 2.131051540374756, 0.032785408198833466, 0, 0, 0, 0, 2.8304736614227295, 1.5846281051635742, -2.7430458068847656, 5.125452041625977, 11.157967567443848, -0.010928469710052013, 8.31656551361084, -40.14026641845703 ]
[ 1.890625238418579, -0.6296239495277405, -0.11868131905794144, 1.1037753820419312, -0.6296239495277405, 0.43516483902931213, 2.0873377323150635, -0.1119331493973732, 0.08888889104127884, 0.032785408198833466, -0.1119331493973732, -0.0615384615957737, -0.05464234575629234, 0.41974928975105286, 0.007326007355004549, 0.032785408198833466, -0.41974928975105286, -0.041514042764902115, -0.25135478377342224, -0.41974928975105286, 0.09035409241914749, -0.9070629477500916, 0.41974928975105286, 0.24175824224948883, 2.6774749755859375, -0.6296239495277405, 0.593406617641449, 1.3879156112670898, -0.6296239495277405, 0.6725274920463562, -2.786759614944458, -0.1119331493973732, 0.11623931676149368, 5.038024425506592, 0.1119331493973732, 0.2666666805744171, 11.136110305786133, -0.41974928975105286, -0.007326007355004549, 0.032785408198833466, 0.41974928975105286, -0.0317460335791111, 7.966854095458984, -0.41974928975105286, 0.13919414579868317, -37.80157470703125, -0.41974928975105286, -0.6666666865348816 ]
3.266667
98
0
98
0
[ 1.890625238418579, 1.2349170446395874, 2.131051540374756, 0.032785408198833466, 0, 0, 0, 0, 2.8304736614227295, 1.5846281051635742, -2.7430458068847656, 5.125452041625977, 11.157967567443848, -0.010928469710052013, 8.294708251953125, -40.14026641845703 ]
[ 1.890625238418579, -0.6296239495277405, -0.11868131905794144, 1.1037753820419312, -0.6296239495277405, 0.43516483902931213, 2.0873377323150635, -0.3357994258403778, 0.08888889104127884, 0.032785408198833466, -0.1119331493973732, -0.0615384615957737, -0.05464234575629234, -1.259247899055481, 0.007326007355004549, 0.05464234575629234, -0.41974928975105286, -0.041514042764902115, -0.25135478377342224, -0.41974928975105286, 0.09035409241914749, -0.9070629477500916, -1.259247899055481, 0.24175824224948883, 2.6774749755859375, -0.6296239495277405, 0.5142857432365417, 1.3879156112670898, -0.6296239495277405, 0.6725274920463562, -2.786759614944458, -0.1119331493973732, 0.10256410390138626, 5.038024425506592, -0.1119331493973732, 0.2666666805744171, 11.136110305786133, -0.41974928975105286, -0.0024420025292783976, 0.05464234575629234, 0.41974928975105286, -0.03663003817200661, 7.966854095458984, -0.41974928975105286, 0.13919414579868317, -37.80157470703125, -0.41974928975105286, -0.6666666865348816 ]
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": "openarms_follower",
    "total_episodes": 1,
    "total_frames": 192,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "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",
            "shape": [
                16
            ],
            "names": [
                "right_joint_1.pos",
                "right_joint_2.pos",
                "right_joint_3.pos",
                "right_joint_4.pos",
                "right_joint_5.pos",
                "right_joint_6.pos",
                "right_joint_7.pos",
                "right_gripper.pos",
                "left_joint_1.pos",
                "left_joint_2.pos",
                "left_joint_3.pos",
                "left_joint_4.pos",
                "left_joint_5.pos",
                "left_joint_6.pos",
                "left_joint_7.pos",
                "left_gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                48
            ],
            "names": [
                "right_joint_1.pos",
                "right_joint_1.vel",
                "right_joint_1.torque",
                "right_joint_2.pos",
                "right_joint_2.vel",
                "right_joint_2.torque",
                "right_joint_3.pos",
                "right_joint_3.vel",
                "right_joint_3.torque",
                "right_joint_4.pos",
                "right_joint_4.vel",
                "right_joint_4.torque",
                "right_joint_5.pos",
                "right_joint_5.vel",
                "right_joint_5.torque",
                "right_joint_6.pos",
                "right_joint_6.vel",
                "right_joint_6.torque",
                "right_joint_7.pos",
                "right_joint_7.vel",
                "right_joint_7.torque",
                "right_gripper.pos",
                "right_gripper.vel",
                "right_gripper.torque",
                "left_joint_1.pos",
                "left_joint_1.vel",
                "left_joint_1.torque",
                "left_joint_2.pos",
                "left_joint_2.vel",
                "left_joint_2.torque",
                "left_joint_3.pos",
                "left_joint_3.vel",
                "left_joint_3.torque",
                "left_joint_4.pos",
                "left_joint_4.vel",
                "left_joint_4.torque",
                "left_joint_5.pos",
                "left_joint_5.vel",
                "left_joint_5.torque",
                "left_joint_6.pos",
                "left_joint_6.vel",
                "left_joint_6.torque",
                "left_joint_7.pos",
                "left_joint_7.vel",
                "left_joint_7.torque",
                "left_gripper.pos",
                "left_gripper.vel",
                "left_gripper.torque"
            ]
        },
        "observation.images.left_wrist": {
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            "shape": [
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            ],
            "names": [
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                "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.right_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
            }
        },
        "observation.images.base": {
            "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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