Search is not available for this dataset
action
sequence
observation.state
sequence
timestamp
float32
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int64
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95
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[ -20.915122985839844, 78.15601348876953, 76.81925964355469, 105.03899383544922, 106.5306396484375, -1.131525993347168, 37.10281753540039, -36.55961608886719, 51.98944091796875 ]
[ -19.775390625, 76.904296875, 76.2890625, 109.16015625, 109.248046875, -0.615234375, 35.419921875, -36.38671875, 51.17808151245117 ]
3.2
96
0
96
0
[ -20.61176872253418, 78.77957153320312, 77.25173950195312, 105.28128814697266, 106.75132751464844, -1.143306016921997, 37.22307205200195, -35.929325103759766, 51.203243255615234 ]
[ -19.775390625, 76.201171875, 75.498046875, 108.10546875, 108.10546875, -0.791015625, 36.123046875, -36.123046875, 51.342464447021484 ]
3.233333
97
0
97
0
[ -21.073225021362305, 77.24766540527344, 75.95011138916016, 103.94166564941406, 105.90608978271484, -1.2639904022216797, 37.329017639160156, -35.78929138183594, 52.202186584472656 ]
[ -19.775390625, 75.5859375, 75.05859375, 107.666015625, 107.578125, -0.791015625, 36.826171875, -36.03515625, 51.28767013549805 ]
3.266667
98
0
98
0
[ -20.524309158325195, 77.35145568847656, 75.9252700805664, 104.1346206665039, 106.1628646850586, -1.3804035186767578, 37.36383056640625, -35.5910530090332, 52.05166244506836 ]
[ -20.0390625, 75.322265625, 74.70703125, 107.314453125, 107.40234375, -0.791015625, 37.001953125, -35.859375, 51.28767013549805 ]
3.3
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "wx250s_single_arm",
    "total_episodes": 5,
    "total_frames": 3554,
    "total_tasks": 1,
    "total_videos": 15,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "main_waist",
                "main_shoulder",
                "main_shoulder_shadow",
                "main_elbow",
                "main_elbow_shadow",
                "main_forearm_roll",
                "main_wrist_angle",
                "main_wrist_rotate",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "main_waist",
                "main_shoulder",
                "main_shoulder_shadow",
                "main_elbow",
                "main_elbow_shadow",
                "main_forearm_roll",
                "main_wrist_angle",
                "main_wrist_rotate",
                "main_gripper"
            ]
        },
        "observation.images.below": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.above": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "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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