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float32
0
296
frame_index
int64
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5.92k
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int64
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9
index
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49.2k
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1.7
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1.75
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1.8
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1.85
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1.9
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1.95
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2
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2.05
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2.1
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
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2.5
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2.55
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2.6
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2.65
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2.7
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2.75
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2.8
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2.85
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2.9
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2.95
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3
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3.05
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3.1
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3.15
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3.2
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3.25
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3.3
66
0
66
0
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3.35
67
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67
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3.4
68
0
68
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3.45
69
0
69
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3.5
70
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70
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3.55
71
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71
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3.6
72
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3.65
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3.7
74
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3.75
75
0
75
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3.8
76
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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
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0
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4
80
0
80
0
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4.05
81
0
81
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4.1
82
0
82
0
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4.15
83
0
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4.2
84
0
84
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4.25
85
0
85
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4.3
86
0
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4.35
87
0
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4.4
88
0
88
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4.45
89
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89
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4.5
90
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4.55
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4.6
92
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4.65
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4.7
94
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4.75
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4.8
96
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4.85
97
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4.9
98
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[ 0.39279526472091675, -0.009736673906445503, 0.31214284896850586, -0.9999454021453857, 0.004050452262163162, -0.002432948211207986, 0.009323312900960445, 1 ]
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": "franka",
    "total_episodes": 10,
    "total_frames": 49165,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:10"
    },
    "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": {
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            "names": {
                "axes": [
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                    "q_2",
                    "q_3",
                    "q_4",
                    "q_5",
                    "q_6",
                    "qdot_0",
                    "qdot_1",
                    "qdot_2",
                    "qdot_3",
                    "qdot_4",
                    "qdot_5",
                    "qdot_6",
                    "x",
                    "y",
                    "z",
                    "qx",
                    "qy",
                    "qz",
                    "qw",
                    "vx",
                    "vy",
                    "vz",
                    "wx",
                    "wy",
                    "wz",
                    "gripper_position",
                    "grasp_state"
                ]
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        },
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        "observation.images.left_back": {
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            "names": [
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            "info": {
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                "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.wrist": {
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            "names": [
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            ],
            "info": {
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                "video.codec": "av1",
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        "observation.images.right_back": {
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            "names": [
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        "timestamp": {
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            "names": null
        },
        "frame_index": {
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        },
        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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