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float32
0
13.7
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int64
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273
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int64
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39
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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
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0
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2.6
52
0
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2.65
53
0
53
0
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2.7
54
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54
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2.75
55
0
55
0
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2.8
56
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56
0
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2.85
57
0
57
0
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2.9
58
0
58
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2.95
59
0
59
0
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[ 0.019239258021116257, 0.30456414818763733, 0.09737581014633179, -1.9714736938476562, -0.08914970606565475, 2.2155585289001465, 0.1329430788755417, 1 ]
3
60
0
60
0
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[ 0.018655717372894287, 0.30817875266075134, 0.09864470362663269, -1.9717885255813599, -0.09134651720523834, 2.221919059753418, 0.12788459658622742, 1 ]
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
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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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[ -0.0014453581534326077, 0.3968951404094696, 0.13050465285778046, -1.9936559200286865, -0.14326053857803345, 2.358293056488037, 0.016176830977201462, 1 ]
4.2
84
0
84
0
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4.25
85
0
85
0
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4.3
86
0
86
0
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4.35
87
0
87
0
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4.4
88
0
88
0
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4.45
89
0
89
0
[ 0, 0, 0, 0, 0, 0, 0.004999999888241291, 0.8999999761581421, 0, 0 ]
[ 0.0047578392550349236, 0.42429834604263306, 0.13112081587314606, -1.9810503721237183, -0.16931749880313873, 2.3696556091308594, 0.024943968281149864, 1 ]
4.5
90
0
90
0
[ 0, 0, 0, 0, 0, 0, 0.004999999888241291, 0.8999999761581421, 0, 0 ]
[ 0.004056067671626806, 0.4255782961845398, 0.13210418820381165, -1.978278636932373, -0.16931618750095367, 2.3660519123077393, 0.023477446287870407, 1 ]
4.55
91
0
91
0
[ 0, 0, 0, 0, 0, 0, 0.004999999888241291, 0.10000000149011612, 0, 0 ]
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4.6
92
0
92
0
[ 0, 0, 0, 0, 0, 0, 0.004999999888241291, 0.10000000149011612, 0, 0 ]
[ 0.003406818490475416, 0.42596152424812317, 0.1334182322025299, -1.978073239326477, -0.1695171445608139, 2.3657963275909424, 0.023477992042899132, 1 ]
4.65
93
0
93
0
[ 0, 0, 0, 0, 0, 0, 0.004999999888241291, 0.10000000149011612, 0, 0 ]
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4.7
94
0
94
0
[ 0, 0, 0, 0, 0, 0, 0.004999999888241291, 0.10000000149011612, 0, 0 ]
[ 0.0026037099305540323, 0.4260365962982178, 0.13479016721248627, -1.9780319929122925, -0.17019948363304138, 2.3657355308532715, 0.02349216490983963, 1 ]
4.75
95
0
95
0
[ 0, 0, 0, 0, 0, 0, 0.004999999888241291, 0.10000000149011612, 0, 0 ]
[ 0.0020203532185405493, 0.42604124546051025, 0.1355029046535492, -1.9780211448669434, -0.17055247724056244, 2.365724563598633, 0.02353222854435444, 1 ]
4.8
96
0
96
0
[ 0, 0, 0, 0, 0, 0, 0.004999999888241291, 0.10000000149011612, 0, 0 ]
[ 0.0015453899977728724, 0.42605480551719666, 0.13602666556835175, -1.978023648262024, -0.17080296576023102, 2.365711212158203, 0.023554682731628418, 1 ]
4.85
97
0
97
0
[ 0, 0, 0, 0, 0, 0, 0.004999999888241291, 0.10000000149011612, 0, 0 ]
[ 0.0010052219731733203, 0.4260595142841339, 0.13659772276878357, -1.9780131578445435, -0.1711016595363617, 2.3656997680664062, 0.023611867800354958, 1 ]
4.9
98
0
98
0
[ 0, 0, 0, 0, 0, 0, 0.004999999888241291, 0.10000000149011612, 0, 0 ]
[ 0.0005430937744677067, 0.42605847120285034, 0.13710786402225494, -1.9780170917510986, -0.17141768336296082, 2.365691900253296, 0.02367124706506729, 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": "single_arm_franka",
    "total_episodes": 40,
    "total_frames": 8606,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:40"
    },
    "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": [
                "r_x",
                "r_y",
                "r_z",
                "r_qx",
                "r_qy",
                "r_qz",
                "r_qw",
                "r_gripper",
                "kp",
                "kd"
            ],
            "shape": [
                10
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "r_joint_1",
                "r_joint_2",
                "r_joint_3",
                "r_joint_4",
                "r_joint_5",
                "r_joint_6",
                "r_joint_7",
                "r_gripper"
            ],
            "shape": [
                8
            ]
        },
        "observation.images.cam_3_wrist": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_4_wrist": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_6_scene": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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