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float32
0
18.9
frame_index
int64
0
378
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int64
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4
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int64
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1.44k
task_index
int64
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2.1
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2.15
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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
60
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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
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3.35
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3.4
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3.45
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3.5
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3.55
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3.6
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3.65
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3.7
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3.75
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3.8
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3.85
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3.9
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3.95
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4
80
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4.05
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4.1
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4.15
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4.2
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84
0
[ 0.0009421966969966888, 0.012214543297886848, -0.02624339610338211, -0.026396511122584343, 0.001958313398063183, 0.01992145925760269, 0.9994391202926636, 0.8954252004623413, 0, 0 ]
[ -0.7117037177085876, -0.4037446677684784, -0.007377471774816513, -2.3005895614624023, 0.1687982678413391, 1.9526814222335815, -0.30549973249435425, 1 ]
4.25
85
0
85
0
[ 0.0007248157635331154, 0.012090589851140976, -0.02611762471497059, -0.025806669145822525, 0.0014949820470064878, 0.019993744790554047, 0.9994438886642456, 0.8961607217788696, 0, 0 ]
[ -0.7080461978912354, -0.40590038895606995, -0.007397049572318792, -2.3095884323120117, 0.16524356603622437, 1.962645411491394, -0.3055883049964905, 1 ]
4.3
86
0
86
0
[ 0.0015577515587210655, 0.011145878583192825, -0.025948982685804367, -0.025240467861294746, 0.002061957959085703, 0.020545508712530136, 0.9994516372680664, 0.9002586603164673, 0, 0 ]
[ -0.7043133974075317, -0.4076664447784424, -0.007405624259263277, -2.3188111782073975, 0.16136503219604492, 1.9711835384368896, -0.30566713213920593, 1 ]
4.35
87
0
87
0
[ 0.00400929618626833, 0.009899831376969814, -0.024410724639892578, -0.01999700255692005, 0.004324453882873058, 0.016495784744620323, 0.9996039271354675, 0.900253176689148, 0, 0 ]
[ -0.700545072555542, -0.40938955545425415, -0.007387862540781498, -2.3274917602539062, 0.15788240730762482, 1.9806207418441772, -0.3057188391685486, 1 ]
4.4
88
0
88
0
[ 0.008118262514472008, 0.005279297940433025, -0.027027342468500137, -0.008540665730834007, 0.008620754815638065, 0.01348365843296051, 0.9997471570968628, 0.9036862850189209, 0, 0 ]
[ -0.6964079737663269, -0.4109880328178406, -0.007423754315823317, -2.3357596397399902, 0.1539953649044037, 1.9898464679718018, -0.3057551383972168, 1 ]
4.45
89
0
89
0
[ -0.006229816935956478, -0.0016354029066860676, -0.03369986265897751, -0.0019140841905027628, -0.0036251468118280172, 0.018964609131217003, 0.9995194673538208, 0.7975863218307495, 0, 0 ]
[ -0.6933073401451111, -0.4105053246021271, -0.00744971726089716, -2.3408639430999756, 0.15159286558628082, 1.9954023361206055, -0.305747926235199, 1 ]
4.5
90
0
90
0
[ -0.0075667379423975945, 0.0018815286457538605, -0.024930372834205627, -0.020318446680903435, 0.007327856495976448, 0.011984647251665592, 0.9995115399360657, 0.8758105039596558, 0, 0 ]
[ -0.6904725432395935, -0.4091250002384186, -0.008066779933869839, -2.345193386077881, 0.15013758838176727, 2.0021419525146484, -0.306060791015625, 1 ]
4.55
91
0
91
0
[ -0.007973826490342617, 0.0018546548672020435, -0.025139685720205307, -0.020377688109874725, 0.005688163451850414, 0.013311231508851051, 0.9994977712631226, 0.8844739198684692, 0, 0 ]
[ -0.6895239353179932, -0.40973877906799316, -0.008422997780144215, -2.352788209915161, 0.14968478679656982, 2.0104880332946777, -0.3099999725818634, 1 ]
4.6
92
0
92
0
[ -0.007942049764096737, 0.0021181716583669186, -0.025338344275951385, -0.02092530019581318, 0.004981729667633772, 0.012405520305037498, 0.9994979500770569, 0.8895468711853027, 0, 0 ]
[ -0.6890707015991211, -0.4119074046611786, -0.00799538940191269, -2.359992265701294, 0.1471129059791565, 2.0179529190063477, -0.3120897710323334, 1 ]
4.65
93
0
93
0
[ -0.007584213279187679, 0.0023387568071484566, -0.025413431227207184, -0.020327018573880196, 0.006031572353094816, 0.012949551455676556, 0.9995061755180359, 0.8897268176078796, 0, 0 ]
[ -0.6883456707000732, -0.4134857654571533, -0.007929983548820019, -2.367873430252075, 0.14384984970092773, 2.0249576568603516, -0.3136744499206543, 1 ]
4.7
94
0
94
0
[ -0.007290692068636417, 0.003913654945790768, -0.02462191879749298, -0.02021847851574421, 0.005116171203553677, 0.01229068636894226, 0.9995289444923401, 0.8857302665710449, 0, 0 ]
[ -0.6878004670143127, -0.41454365849494934, -0.007939408533275127, -2.3753838539123535, 0.14069963991641998, 2.031614065170288, -0.31477710604667664, 1 ]
4.75
95
0
95
0
[ -0.006255079060792923, 0.004332739859819412, -0.02489113062620163, -0.01870325207710266, 0.004209382925182581, 0.010157940909266472, 0.9995607137680054, 0.8872493505477905, 0, 0 ]
[ -0.6870439052581787, -0.41585004329681396, -0.00797415804117918, -2.3829610347747803, 0.13744953274726868, 2.0397541522979736, -0.3156094253063202, 1 ]
4.8
96
0
96
0
[ -0.00040460843592882156, 0.00328803644515574, -0.02465204894542694, -0.012181270867586136, 0.004016577731817961, 0.00865661259740591, 0.9996340870857239, 0.880820095539093, 0, 0 ]
[ -0.6860436201095581, -0.41753578186035156, -0.007942971773445606, -2.390990734100342, 0.1343112289905548, 2.0472302436828613, -0.316305547952652, 1 ]
4.85
97
0
97
0
[ 0.008538876660168171, -0.0001110471785068512, -0.02859707921743393, -0.004311450757086277, 0.005463801324367523, 0.012128930538892746, 0.9996989965438843, 0.9029116630554199, 0, 0 ]
[ -0.6847678422927856, -0.4179677963256836, -0.007959909737110138, -2.39797306060791, 0.13156946003437042, 2.053583860397339, -0.31681206822395325, 1 ]
4.9
98
0
98
0
[ 0.012384109199047089, -0.0025385036133229733, -0.0296624805778265, -0.002489412436261773, 0.007212192751467228, 0.013109330087900162, 0.9997049570083618, 0.9026772975921631, 0, 0 ]
[ -0.6832180023193359, -0.41633886098861694, -0.00789327546954155, -2.402643918991089, 0.13021263480186462, 2.0612175464630127, -0.3171849250793457, 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": 5,
    "total_frames": 1438,
    "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": {
            "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
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        },
        "observation.images.cam_3_wrist": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
                "height",
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                "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": [
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                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_2_scene": {
            "dtype": "video",
            "shape": [
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                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,
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                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
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            "names": null
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        "frame_index": {
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        "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
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            "names": null
        }
    }
}

Citation

BibTeX:

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