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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "bi_openarm_follower",
"total_episodes": 0,
"total_frames": 0,
"total_tasks": 0,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {},
"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": [
"left_joint_1.pos",
"left_joint_1.vel",
"left_joint_1.torque",
"left_joint_2.pos",
"left_joint_2.vel",
"left_joint_2.torque",
"left_joint_3.pos",
"left_joint_3.vel",
"left_joint_3.torque",
"left_joint_4.pos",
"left_joint_4.vel",
"left_joint_4.torque",
"left_joint_5.pos",
"left_joint_5.vel",
"left_joint_5.torque",
"left_joint_6.pos",
"left_joint_6.vel",
"left_joint_6.torque",
"left_joint_7.pos",
"left_joint_7.vel",
"left_joint_7.torque",
"left_gripper.pos",
"left_gripper.vel",
"left_gripper.torque",
"right_joint_1.pos",
"right_joint_1.vel",
"right_joint_1.torque",
"right_joint_2.pos",
"right_joint_2.vel",
"right_joint_2.torque",
"right_joint_3.pos",
"right_joint_3.vel",
"right_joint_3.torque",
"right_joint_4.pos",
"right_joint_4.vel",
"right_joint_4.torque",
"right_joint_5.pos",
"right_joint_5.vel",
"right_joint_5.torque",
"right_joint_6.pos",
"right_joint_6.vel",
"right_joint_6.torque",
"right_joint_7.pos",
"right_joint_7.vel",
"right_joint_7.torque",
"right_gripper.pos",
"right_gripper.vel",
"right_gripper.torque"
],
"shape": [
48
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_joint_1.pos",
"left_joint_1.vel",
"left_joint_1.torque",
"left_joint_2.pos",
"left_joint_2.vel",
"left_joint_2.torque",
"left_joint_3.pos",
"left_joint_3.vel",
"left_joint_3.torque",
"left_joint_4.pos",
"left_joint_4.vel",
"left_joint_4.torque",
"left_joint_5.pos",
"left_joint_5.vel",
"left_joint_5.torque",
"left_joint_6.pos",
"left_joint_6.vel",
"left_joint_6.torque",
"left_joint_7.pos",
"left_joint_7.vel",
"left_joint_7.torque",
"left_gripper.pos",
"left_gripper.vel",
"left_gripper.torque",
"right_joint_1.pos",
"right_joint_1.vel",
"right_joint_1.torque",
"right_joint_2.pos",
"right_joint_2.vel",
"right_joint_2.torque",
"right_joint_3.pos",
"right_joint_3.vel",
"right_joint_3.torque",
"right_joint_4.pos",
"right_joint_4.vel",
"right_joint_4.torque",
"right_joint_5.pos",
"right_joint_5.vel",
"right_joint_5.torque",
"right_joint_6.pos",
"right_joint_6.vel",
"right_joint_6.torque",
"right_joint_7.pos",
"right_joint_7.vel",
"right_joint_7.torque",
"right_gripper.pos",
"right_gripper.vel",
"right_gripper.torque"
],
"shape": [
48
]
},
"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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