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Datasets:
puppet-robotics
/
golf

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
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action
list
observation.state
list
timestamp
float32
0
11.7
frame_index
int64
0
234
episode_index
int64
0
4
index
int64
0
943
task_index
int64
0
0
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2.1
42
0
42
0
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2.15
43
0
43
0
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2.2
44
0
44
0
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2.25
45
0
45
0
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2.3
46
0
46
0
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2.35
47
0
47
0
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2.4
48
0
48
0
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2.45
49
0
49
0
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2.5
50
0
50
0
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2.55
51
0
51
0
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2.6
52
0
52
0
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2.65
53
0
53
0
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2.7
54
0
54
0
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2.75
55
0
55
0
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2.8
56
0
56
0
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2.85
57
0
57
0
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2.9
58
0
58
0
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2.95
59
0
59
0
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3
60
0
60
0
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3.05
61
0
61
0
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3.1
62
0
62
0
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3.15
63
0
63
0
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3.2
64
0
64
0
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3.25
65
0
65
0
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3.3
66
0
66
0
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3.35
67
0
67
0
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3.4
68
0
68
0
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3.45
69
0
69
0
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3.5
70
0
70
0
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3.55
71
0
71
0
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3.6
72
0
72
0
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3.65
73
0
73
0
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3.7
74
0
74
0
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3.75
75
0
75
0
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3.8
76
0
76
0
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3.85
77
0
77
0
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3.9
78
0
78
0
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3.95
79
0
79
0
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4
80
0
80
0
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4.05
81
0
81
0
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4.1
82
0
82
0
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4.15
83
0
83
0
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4.2
84
0
84
0
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4.25
85
0
85
0
[ -0.17490653693675995, 0.7368200421333313, 1.3639658689498901, 1.256008267402649, -1.583314299583435, -0.6612878441810608, -0.10585946589708328, 2.355703830718994 ]
[ -0.21773023903369904, 0.7455939650535583, 1.3384069204330444, 1.2521934509277344, -1.576066255569458, -0.6525139212608337, -0.08525978773832321, 2.3592355251312256 ]
4.3
86
0
86
0
[ -0.17490653693675995, 0.7372015118598938, 1.3639658689498901, 1.256008267402649, -1.583314299583435, -0.6612878441810608, -0.10585946589708328, 2.355703830718994 ]
[ -0.21811170876026154, 0.7455939650535583, 1.3384069204330444, 1.2521934509277344, -1.576066255569458, -0.6525139212608337, -0.08525978773832321, 2.358854055404663 ]
4.35
87
0
87
0
[ -0.17490653693675995, 0.7372015118598938, 1.3639658689498901, 1.256008267402649, -1.583314299583435, -0.6612878441810608, -0.10547798871994019, 2.355703830718994 ]
[ -0.21811170876026154, 0.7455939650535583, 1.3384069204330444, 1.2521934509277344, -1.576066255569458, -0.6525139212608337, -0.08525978773832321, 2.3592355251312256 ]
4.4
88
0
88
0
[ -0.17490653693675995, 0.7372015118598938, 1.3639658689498901, 1.256008267402649, -1.583314299583435, -0.6612878441810608, -0.1039520874619484, 2.355703830718994 ]
[ -0.21811170876026154, 0.7455939650535583, 1.3384069204330444, 1.2521934509277344, -1.576066255569458, -0.6525139212608337, -0.08487831056118011, 2.3592355251312256 ]
4.45
89
0
89
0
[ -0.17490653693675995, 0.7375829815864563, 1.3639658689498901, 1.256008267402649, -1.583314299583435, -0.6612878441810608, -0.10013733059167862, 2.355703830718994 ]
[ -0.21773023903369904, 0.7455939650535583, 1.3384069204330444, 1.2521934509277344, -1.576066255569458, -0.6521324515342712, -0.08220797777175903, 2.358854055404663 ]
4.5
90
0
90
0
[ -0.17528800666332245, 0.7375829815864563, 1.3639658689498901, 1.256008267402649, -1.583314299583435, -0.6612878441810608, -0.09746700525283813, 2.355703830718994 ]
[ -0.21773023903369904, 0.7455939650535583, 1.3384069204330444, 1.2521934509277344, -1.576066255569458, -0.6521324515342712, -0.08144503086805344, 2.358854055404663 ]
4.55
91
0
91
0
[ -0.17490653693675995, 0.7375829815864563, 1.3639658689498901, 1.256008267402649, -1.583314299583435, -0.6612878441810608, -0.08449683338403702, 2.3560853004455566 ]
[ -0.21773023903369904, 0.7455939650535583, 1.3384069204330444, 1.2521934509277344, -1.576066255569458, -0.6525139212608337, -0.07419699430465698, 2.358091115951538 ]
4.6
92
0
92
0
[ -0.17490653693675995, 0.7372015118598938, 1.3639658689498901, 1.256008267402649, -1.583314299583435, -0.6616693139076233, -0.07839322835206985, 2.3560853004455566 ]
[ -0.21620433032512665, 0.7459754347801208, 1.3384069204330444, 1.2521934509277344, -1.576066255569458, -0.6528953909873962, -0.06618601083755493, 2.3577096462249756 ]
4.65
93
0
93
0
[ -0.17528800666332245, 0.7372015118598938, 1.3639658689498901, 1.256008267402649, -1.583314299583435, -0.6612878441810608, -0.07839322835206985, 2.3560853004455566 ]
[ -0.21620433032512665, 0.7459754347801208, 1.338788390159607, 1.2521934509277344, -1.576066255569458, -0.6536583304405212, -0.06542305648326874, 2.358091115951538 ]
4.7
94
0
94
0
[ -0.17528800666332245, 0.7372015118598938, 1.3639658689498901, 1.256008267402649, -1.583314299583435, -0.6612878441810608, -0.07839322835206985, 2.3560853004455566 ]
[ -0.21620433032512665, 0.7459754347801208, 1.338788390159607, 1.2521934509277344, -1.576066255569458, -0.6540398001670837, -0.06580453366041183, 2.3577096462249756 ]
4.75
95
0
95
0
[ -0.17490653693675995, 0.7372015118598938, 1.3639658689498901, 1.256008267402649, -1.583314299583435, -0.6616693139076233, -0.07839322835206985, 2.3560853004455566 ]
[ -0.21620433032512665, 0.7459754347801208, 1.338788390159607, 1.2521934509277344, -1.576066255569458, -0.654421329498291, -0.06542305648326874, 2.358091115951538 ]
4.8
96
0
96
0
[ -0.17490653693675995, 0.7372015118598938, 1.3639658689498901, 1.256008267402649, -1.583314299583435, -0.6616693139076233, -0.07839322835206985, 2.3560853004455566 ]
[ -0.21620433032512665, 0.7459754347801208, 1.3384069204330444, 1.2521934509277344, -1.576066255569458, -0.654421329498291, -0.06542305648326874, 2.358091115951538 ]
4.85
97
0
97
0
[ -0.17490653693675995, 0.7375829815864563, 1.3639658689498901, 1.256008267402649, -1.583314299583435, -0.6616693139076233, -0.07877469807863235, 2.3560853004455566 ]
[ -0.21620433032512665, 0.7459754347801208, 1.338788390159607, 1.2521934509277344, -1.576066255569458, -0.654421329498291, -0.06542305648326874, 2.358091115951538 ]
4.9
98
0
98
0
[ -0.17490653693675995, 0.7375829815864563, 1.3639658689498901, 1.256008267402649, -1.583314299583435, -0.6616693139076233, -0.07839322835206985, 2.3560853004455566 ]
[ -0.21620433032512665, 0.7459754347801208, 1.338788390159607, 1.2521934509277344, -1.576066255569458, -0.654421329498291, -0.06580453366041183, 2.358091115951538 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "openarm-right-only",
    "total_episodes": 5,
    "total_frames": 944,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:5"
    },
    "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": {
            "key": "action",
            "topic": "/operator/arm_right/joint_state/expected.position",
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "arm_right_joint_1",
                "arm_right_joint_2",
                "arm_right_joint_3",
                "arm_right_joint_4",
                "arm_right_joint_5",
                "arm_right_joint_6",
                "arm_right_joint_7",
                "arm_right_joint_8"
            ]
        },
        "observation.state": {
            "key": "observation.state",
            "topic": "/controller/arm_right/joint_state/actual.position",
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "arm_right_joint_1",
                "arm_right_joint_2",
                "arm_right_joint_3",
                "arm_right_joint_4",
                "arm_right_joint_5",
                "arm_right_joint_6",
                "arm_right_joint_7",
                "arm_right_joint_8"
            ]
        },
        "observation.images.wrist": {
            "key": "observation.images.wrist",
            "topic": "/camera/wrist_right/rgb/compressed",
            "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": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.ego": {
            "key": "observation.images.ego",
            "topic": "/camera/ego/rgb/compressed",
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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