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2.15
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2.2
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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
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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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4.25
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4.3
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86
0
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[ -0.10282135009765625, 0.002264853799715638, -0.42156970500946045, -2.702942132949829, -0.03435925021767616, 2.8887939453125, 1.1079425811767578, 1 ]
4.35
87
0
87
0
[ 0.36977702379226685, -0.2059723436832428, 0.09648896753787994, 0.9137307405471802, -0.3982682228088379, 0.07938840240240097, 0.013267110101878643, 0.15929749608039856, 0, 0 ]
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4.4
88
0
88
0
[ 0.388689786195755, -0.20304881036281586, 0.10727739334106445, 0.9211813807487488, -0.373495489358902, 0.10849258303642273, 0.012462958693504333, -0.021798504516482353, 0, 0 ]
[ -0.09500788897275925, -0.0010109293507412076, -0.4208444356918335, -2.710026502609253, -0.036702509969472885, 2.8955864906311035, 1.1124353408813477, 1 ]
4.45
89
0
89
0
[ 0.3738754093647003, -0.20410634577274323, 0.0911097601056099, 0.9229812622070312, -0.3775421679019928, 0.07335430383682251, 0.013661895878612995, -0.10769696533679962, 0, 0 ]
[ -0.09507715702056885, -0.00479155732318759, -0.421703577041626, -2.7139501571655273, -0.042817357927560806, 2.89562726020813, 1.117586374282837, 1 ]
4.5
90
0
90
0
[ 0.39917540550231934, -0.21886660158634186, 0.12459973990917206, 0.9101147055625916, -0.3968406319618225, 0.11843806505203247, 0.013458720408380032, -0.05591563880443573, 0, 0 ]
[ -0.09412458539009094, -0.007432022597640753, -0.4216088652610779, -2.717632532119751, -0.04487353190779686, 2.898143768310547, 1.1185104846954346, 1 ]
4.55
91
0
91
0
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4.6
92
0
92
0
[ 0.4051209092140198, -0.2127644121646881, 0.12510821223258972, 0.9226166009902954, -0.36245453357696533, 0.13089971244335175, 0.0164493415504694, -0.024347838014364243, 0, 0 ]
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4.65
93
0
93
0
[ 0.4051676392555237, -0.1917233169078827, 0.11868119984865189, 0.9262673258781433, -0.35921886563301086, 0.11342690140008926, 0.011177435517311096, -0.024347826838493347, 0, 0 ]
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4.7
94
0
94
0
[ 0.38474375009536743, -0.19614329934120178, 0.09629439562559128, 0.9213327765464783, -0.37855279445648193, 0.08807643502950668, 0.009285511448979378, -0.024347826838493347, 0, 0 ]
[ -0.08547867089509964, -0.0046901097521185875, -0.4213533103466034, -2.7196335792541504, -0.04121789336204529, 2.9119253158569336, 1.1126397848129272, 1 ]
4.75
95
0
95
0
[ 0.36528104543685913, -0.2244037240743637, 0.0967043861746788, 0.9131975769996643, -0.39700847864151, 0.08984193205833435, 0.019566349685192108, -0.024347826838493347, 0, 0 ]
[ -0.08047765493392944, -0.0045267497189342976, -0.4209316670894623, -2.7198128700256348, -0.0390731617808342, 2.9164557456970215, 1.1118531227111816, 1 ]
4.8
96
0
96
0
[ 0.3844687044620514, -0.24142374098300934, 0.10879748314619064, 0.9007838368415833, -0.41868263483047485, 0.1134345531463623, 0.02063922956585884, -0.026086783036589622, 0, 0 ]
[ -0.07807442545890808, -0.006472610402852297, -0.42148831486701965, -2.720980167388916, -0.040061596781015396, 2.9165773391723633, 1.112220287322998, 1 ]
4.85
97
0
97
0
[ 0.36407142877578735, -0.20511087775230408, 0.0832548514008522, 0.9185227155685425, -0.390778124332428, 0.058297108858823776, 0.014489786699414253, -0.0260869562625885, 0, 0 ]
[ -0.07987897843122482, -0.00837729498744011, -0.4233013391494751, -2.7229576110839844, -0.0446145161986351, 2.9165537357330322, 1.1142033338546753, 1 ]
4.9
98
0
98
0
[ 0.36713504791259766, -0.23055687546730042, 0.083649642765522, 0.8972952961921692, -0.43463370203971863, 0.07553277909755707, 0.015796741470694542, -0.0260869562625885, 0, 0 ]
[ -0.08357875049114227, -0.007458944339305162, -0.4239634871482849, -2.7228379249572754, -0.04506000131368637, 2.9171130657196045, 1.1153377294540405, 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": 20,
    "total_frames": 4074,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:20"
    },
    "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": [
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        },
        "observation.images.cam_3_wrist": {
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            "shape": [
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            "names": [
                "height",
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                "channels"
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            "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": {
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            "shape": [
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            ],
            "names": [
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                "channels"
            ],
            "info": {
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                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.cam_2_scene": {
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            "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": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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        },
        "episode_index": {
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            "names": null
        },
        "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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