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2.6
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2.633333
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2.666667
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2.7
81
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2.733333
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2.766667
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2.8
84
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2.833333
85
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2.866667
86
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[ 0.4628787040710449, -1.1671676635742188, 1.8993558883666992, -2.4317431449890137, -1.5295705795288086, -2.639309883117676, 98, 100, 0, 0, 3.5280001163482666, -12.095999717712402, -6.929999828338623, -3.5840001106262207, -0.8640000224113464, 1.2480000257492065, 0, 0.1533980816602707...
2.9
87
0
87
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": "romoya_lebai_follower",
    "total_episodes": 51,
    "total_frames": 13671,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:51"
    },
    "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": [
                "joint1.pos",
                "joint2.pos",
                "joint3.pos",
                "joint4.pos",
                "joint5.pos",
                "joint6.pos",
                "gripper.pos",
                "gripper.force",
                "DO_0",
                "DO_1",
                "joint1.effort",
                "joint2.effort",
                "joint3.effort",
                "joint4.effort",
                "joint5.effort",
                "joint6.effort",
                "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.temp",
                "joint1.voltage",
                "joint2.temp",
                "joint2.voltage",
                "joint3.temp",
                "joint3.voltage",
                "joint4.temp",
                "joint4.voltage",
                "joint5.temp",
                "joint5.voltage",
                "joint6.temp",
                "joint6.voltage",
                "flange_voltage",
                "tcp.x",
                "tcp.y",
                "tcp.z",
                "tcp.rx",
                "tcp.ry",
                "tcp.rz"
            ],
            "shape": [
                47
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        },
        "observation.state": {
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            "names": [
                "joint1.pos",
                "joint2.pos",
                "joint3.pos",
                "joint4.pos",
                "joint5.pos",
                "joint6.pos",
                "gripper.pos",
                "gripper.force",
                "DO_0",
                "DO_1",
                "joint1.effort",
                "joint2.effort",
                "joint3.effort",
                "joint4.effort",
                "joint5.effort",
                "joint6.effort",
                "joint1.vel",
                "joint2.vel",
                "joint3.vel",
                "joint4.vel",
                "joint5.vel",
                "joint6.vel",
                "joint1.acc",
                "joint2.acc",
                "joint3.acc",
                "joint4.acc",
                "joint5.acc",
                "joint6.acc",
                "tcp.x",
                "tcp.y",
                "tcp.z",
                "tcp.rx",
                "tcp.ry",
                "tcp.rz",
                "joint1.temp",
                "joint2.temp",
                "joint3.temp",
                "joint4.temp",
                "joint5.temp",
                "joint6.temp",
                "joint1.voltage",
                "joint2.voltage",
                "joint3.voltage",
                "joint4.voltage",
                "joint5.voltage",
                "joint6.voltage",
                "flange_voltage",
                "flange.x",
                "flange.y",
                "flange.z",
                "flange.rx",
                "flange.ry",
                "flange.rz",
                "target_joint1.pos",
                "target_joint2.pos",
                "target_joint3.pos",
                "target_joint4.pos",
                "target_joint5.pos",
                "target_joint6.pos",
                "target_joint1.vel",
                "target_joint2.vel",
                "target_joint3.vel",
                "target_joint4.vel",
                "target_joint5.vel",
                "target_joint6.vel",
                "target_joint1.acc",
                "target_joint2.acc",
                "target_joint3.acc",
                "target_joint4.acc",
                "target_joint5.acc",
                "target_joint6.acc",
                "target_joint1.effort",
                "target_joint2.effort",
                "target_joint3.effort",
                "target_joint4.effort",
                "target_joint5.effort",
                "target_joint6.effort",
                "target_tcp.x",
                "target_tcp.y",
                "target_tcp.z",
                "target_tcp.rx",
                "target_tcp.ry",
                "target_tcp.rz"
            ],
            "shape": [
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        },
        "observation.images.wrist": {
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            "shape": [
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                1920,
                3
            ],
            "names": [
                "height",
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                "channels"
            ],
            "info": {
                "video.height": 1080,
                "video.width": 1920,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                1080,
                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 1080,
                "video.width": 1920,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.side": {
            "dtype": "video",
            "shape": [
                1080,
                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 1080,
                "video.width": 1920,
                "video.codec": "h264",
                "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": {
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            "shape": [
                1
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            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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