Search is not available for this dataset
action
sequence
observation.state
sequence
timestamp
float32
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29.7
frame_index
int64
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892
episode_index
int64
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int64
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task_index
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[ -16.962890625, 76.81640625, 76.376953125, 102.392578125, 102.392578125, -0.87890625, 36.03515625, -13.798828125, 43.5616455078125 ]
3.133333
94
0
94
0
[ -17.893207550048828, 77.82327270507812, 77.91608428955078, 99.63357543945312, 99.74087524414062, -1.6859631538391113, 37.98875045776367, -15.46023941040039, 50.91545104980469 ]
[ -16.962890625, 76.46484375, 76.025390625, 101.77734375, 101.77734375, -0.791015625, 36.826171875, -14.326171875, 45.58904266357422 ]
3.166667
95
0
95
0
[ -17.751495361328125, 77.85530090332031, 77.98143768310547, 99.52497863769531, 99.61407470703125, -1.700674057006836, 38.40301513671875, -15.659013748168945, 52.272743225097656 ]
[ -16.962890625, 76.11328125, 75.673828125, 101.337890625, 101.42578125, -0.87890625, 37.001953125, -14.501953125, 47.61643981933594 ]
3.2
96
0
96
0
[ -17.58757209777832, 78.03752136230469, 78.16793060302734, 99.91970825195312, 100.03790283203125, -1.7235431671142578, 38.26804733276367, -15.857636451721191, 54.066749572753906 ]
[ -16.962890625, 75.76171875, 75.41015625, 100.986328125, 101.07421875, -0.791015625, 37.44140625, -14.58984375, 49.3698616027832 ]
3.233333
97
0
97
0
[ -17.87555503845215, 77.62403869628906, 77.76924133300781, 99.7559814453125, 99.91146850585938, -1.740349292755127, 38.184852600097656, -15.738075256347656, 54.89762878417969 ]
[ -16.875, 75.673828125, 75.234375, 100.986328125, 101.07421875, -0.791015625, 37.96875, -14.58984375, 51.23287582397461 ]
3.266667
98
0
98
0
[ -17.744653701782227, 77.3294677734375, 77.56034851074219, 100.18252563476562, 100.3268051147461, -1.816525936126709, 38.041656494140625, -16.218589782714844, 57.06745529174805 ]
[ -16.875, 75.498046875, 75.146484375, 100.986328125, 101.07421875, -0.791015625, 38.14453125, -14.677734375, 52.60274124145508 ]
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": 3293,
    "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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