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lang sequence | observation.image.low imagewidth (px) 224 224 | observation.image.side imagewidth (px) 224 224 | observation.image.wrist imagewidth (px) 224 224 | observation.state.gripper float32 0 847 ⌀ | observation.state.joints sequence | observation.state.pose sequence | timestamp float32 0 18.2 | frame_index int64 0 911 | episode_index int64 0 102 | index int64 0 69.9k | 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": "v2.1",
"robot_type": "xarm7",
"total_episodes": 1,
"total_frames": 10,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:1"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
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],
"names": [
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"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper",
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper"
]
]
},
"action": {
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14
],
"names": [
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"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
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"left_waist",
"left_shoulder",
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]
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"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
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]
]
},
"observation.effort": {
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],
"names": [
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"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper",
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper"
]
]
},
"observation.images.cam_high": {
"dtype": "image",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
]
},
"observation.images.cam_low": {
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3,
480,
640
],
"names": [
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]
},
"observation.images.cam_left_wrist": {
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3,
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640
],
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"width"
]
},
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3,
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640
],
"names": [
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]
},
"timestamp": {
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1
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},
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},
"task_index": {
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1
],
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}
}
}
Citation
BibTeX:
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