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float32
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int64
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int64
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int64
task_index
int64
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[ -0.423992782831192, 0.958413302898407, 0.6072041392326355, 0.005349208600819111, 0.9638957977294922, 0.24353383481502533, 0.1075526624917984, 0.14601926505565643, 0.9807093143463135, 0.4876253008842468, 0.025649845600128174, -0.9252095818519592, -0.11286092549562454, 0.3613748252391815, ...
[ 0.00005429983139038086, -0.0006030797958374023, -0.00045287609100341797, 0.002544623101130128, -0.00023444122052751482, -0.001261217286810279, 0, 0, 0, 0, 0, 0, 0, 0 ]
3.2
96
0
96
0
[ -0.42394110560417175, 0.9577695727348328, 0.608052134513855, 0.005951732862740755, 0.9633049368858337, 0.24607399106025696, 0.10703134536743164, 0.14602304995059967, 0.9807100296020508, 0.4876232147216797, 0.025647001340985298, -0.9252112507820129, -0.11285961419343948, 0.36137107014656067...
[ 0.000031620264053344727, -0.00041621923446655273, -0.00032252073287963867, 0.0017762163188308477, -0.00016671647608745843, -0.00086352345533669, 0, 0, 0, 0, 0, 0, 0, 0 ]
3.233333
97
0
97
0
[ -0.4237939417362213, 0.957141637802124, 0.6064568161964417, 0.006529280915856361, 0.9633005857467651, 0.2459685206413269, 0.10727913677692413, 0.14602074027061462, 0.9807097911834717, 0.4876253604888916, 0.025649020448327065, -0.9252094626426697, -0.11286189407110214, 0.36137479543685913, ...
[ 0.00001800060272216797, -0.00026875734329223633, -0.0002123713493347168, 0.0011553869117051363, -0.00010970933362841606, -0.0005547996843233705, 0, 0, 0, 0, 0, 0, 0, 0 ]
3.266667
98
0
98
0
[ -0.4235880970954895, 0.9567229151725769, 0.6057682633399963, 0.006666878703981638, 0.9631995558738708, 0.24619829654693604, 0.10765044391155243, 0.14602261781692505, 0.9807094931602478, 0.4876222014427185, 0.02564878948032856, -0.9252102971076965, -0.11286039650440216, 0.36137324571609497,...
[ 0.000010788440704345703, -0.00017786026000976562, -0.0001423358917236328, 0.0007680922280997038, -0.00007351869862759486, -0.00036567941424436867, 0, 0, 0, 0, 0, 0, 0, 0 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": null,
    "total_episodes": 2,
    "total_frames": 21,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                32
            ],
            "names": [
                "tcp_left_pos_x",
                "tcp_left_pos_y",
                "tcp_left_pos_z",
                "tcp_left_quat_x",
                "tcp_left_quat_y",
                "tcp_left_quat_z",
                "tcp_left_quat_w",
                "tcp_right_pos_x",
                "tcp_right_pos_y",
                "tcp_right_pos_z",
                "tcp_right_quat_x",
                "tcp_right_quat_y",
                "tcp_right_quat_z",
                "tcp_right_quat_w",
                "gripper_left_0",
                "gripper_left_1",
                "gripper_right_0",
                "gripper_right_1",
                "last_command_left_0",
                "last_command_left_1",
                "last_command_left_2",
                "last_command_left_3",
                "last_command_left_4",
                "last_command_left_5",
                "last_command_left_6",
                "last_command_right_0",
                "last_command_right_1",
                "last_command_right_2",
                "last_command_right_3",
                "last_command_right_4",
                "last_command_right_5",
                "last_command_right_6"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "delta_tcp_left_x",
                "delta_tcp_left_y",
                "delta_tcp_left_z",
                "delta_tcp_left_rot_x",
                "delta_tcp_left_rot_y",
                "delta_tcp_left_rot_z",
                "delta_tcp_right_x",
                "delta_tcp_right_y",
                "delta_tcp_right_z",
                "delta_tcp_right_rot_x",
                "delta_tcp_right_rot_y",
                "delta_tcp_right_rot_z",
                "gripper_left",
                "gripper_right"
            ]
        },
        "observation.images.rgb_static": {
            "dtype": "video",
            "shape": [
                640,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 640,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.rgb_left": {
            "dtype": "video",
            "shape": [
                640,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 640,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.rgb_right": {
            "dtype": "video",
            "shape": [
                640,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 640,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "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",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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