syun88/mg400-demo-track-gtr-mark2
Robotics • Updated
Datasets:
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action list | observation.state list | timestamp float32 0 14.9 | frame_index int64 0 448 | episode_index int64 0 49 | index int64 0 13.1k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "mg400",
"total_episodes": 50,
"total_frames": 13084,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"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",
"names": [
"joint_1.pos",
"joint_2.pos",
"joint_3.pos",
"joint_4.pos",
"jog_axis_code",
"speed_j",
"enable_robot",
"disable_robot",
"emergency_stop",
"stop_jog"
],
"shape": [
10
]
},
"observation.state": {
"dtype": "float32",
"names": [
"tcp_x.pos",
"tcp_y.pos",
"tcp_z.pos",
"tcp_r.pos",
"joint_1.pos",
"joint_2.pos",
"joint_3.pos",
"joint_4.pos"
],
"shape": [
8
]
},
"observation.images.arm": {
"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": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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1
],
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},
"episode_index": {
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1
],
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},
"index": {
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},
"task_index": {
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"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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