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observation.state
listlengths
14
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action
listlengths
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float32
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19.9
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2.3
46
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2.35
47
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2.4
48
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2.45
49
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2.5
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2.55
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2.6
52
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2.65
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2.7
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2.75
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2.8
56
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2.85
57
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2.9
58
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2.95
59
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3
60
0
60
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3.05
61
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3.1
62
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3.15
63
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63
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3.2
64
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3.25
65
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3.3
66
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3.35
67
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3.4
68
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3.45
69
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3.5
70
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3.55
71
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3.6
72
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3.65
73
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3.7
74
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3.75
75
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3.8
76
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3.85
77
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3.9
78
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3.95
79
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4
80
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4.05
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4.1
82
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4.15
83
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4.2
84
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4.25
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4.3
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4.35
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4.4
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4.45
89
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4.5
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4.55
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0
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[ 30.566726684570312, 112.89161682128906, -30.489439010620117, 5.818418979644775, -57.327392578125, 59.22861862182617, 0, 0, 0, 0, 0, 0, 1, 0 ]
4.6
92
0
92
0
[ 30.6299991607666, 112.96600341796875, -30.393999099731445, 5.723999977111816, -57.3380012512207, 59.242000579833984, 0, 0, 0, 0, 0, 0, 0.9915789365768433, 0 ]
[ 30.655691146850586, 112.8796157836914, -30.49529457092285, 5.9367218017578125, -57.22053146362305, 59.124900817871094, 0, 0, 0, 0, 0, 0, 0.9223443865776062, 0 ]
4.65
93
0
93
0
[ 30.6299991607666, 112.96600341796875, -30.393999099731445, 5.8979997634887695, -57.3380012512207, 59.242000579833984, 0, 0, 0, 0, 0, 0, 0.972631573677063, 0 ]
[ 30.760438919067383, 112.88044738769531, -30.49180793762207, 5.9818196296691895, -57.220436096191406, 59.1231575012207, 0, 0, 0, 0, 0, 0, 0.879120945930481, 0 ]
4.7
94
0
94
0
[ 30.73699951171875, 112.96600341796875, -30.393999099731445, 5.980000019073486, -57.22200012207031, 59.12099838256836, 0, 0, 0, 0, 0, 0, 0.917894721031189, 0 ]
[ 30.88620948791504, 112.87012481689453, -30.490610122680664, 6.3279242515563965, -57.11379623413086, 58.99531936645508, 0, 0, 0, 0, 0, 0, 0.8112332820892334, 0 ]
4.75
95
0
95
0
[ 30.856000900268555, 112.96600341796875, -30.393999099731445, 6.122000217437744, -57.14099884033203, 59.12099838256836, 0, 0, 0, 0, 0, 0, 0.8589473962783813, 0 ]
[ 30.970596313476562, 112.86203002929688, -30.49144172668457, 6.348941326141357, -57.040000915527344, 58.887027740478516, 0, 0, 0, 0, 0, 0, 0.8105006814002991, 0 ]
4.8
96
0
96
0
[ 30.965999603271484, 112.96600341796875, -30.393999099731445, 6.293000221252441, -57.09000015258789, 58.87900161743164, 0, 0, 0, 0, 0, 0, 0.8199999928474426, 0 ]
[ 31.070730209350586, 112.85688781738281, -30.488798141479492, 6.516086578369141, -56.9951057434082, 58.87410354614258, 0, 0, 0, 0, 0, 0, 0.7982906699180603, 0 ]
4.85
97
0
97
0
[ 30.965999603271484, 112.96600341796875, -30.393999099731445, 6.460000038146973, -56.9900016784668, 58.87900161743164, 0, 0, 0, 0, 0, 0, 0.8094736933708191, 0 ]
[ 31.090219497680664, 112.8561782836914, -30.48625373840332, 6.67035436630249, -56.99494552612305, 58.75834655761719, 0, 0, 0, 0, 0, 0, 0.807326078414917, 0 ]
4.9
98
0
98
0
[ 31.027000427246094, 112.96600341796875, -30.393999099731445, 6.6519999504089355, -56.9900016784668, 58.75600051879883, 0, 0, 0, 0, 0, 0, 0.8084210753440857, 0 ]
[ 31.143665313720703, 112.8448486328125, -30.49277114868164, 6.752079486846924, -56.90510177612305, 58.7517204284668, 0, 0, 0, 0, 0, 0, 0.8085470795631409, 0 ]
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": "agilex_piper_bimanual",
    "total_episodes": 709,
    "total_frames": 144141,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:709"
    },
    "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": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "right_joint1",
                "right_joint2",
                "right_joint3",
                "right_joint4",
                "right_joint5",
                "right_joint6",
                "left_joint1",
                "left_joint2",
                "left_joint3",
                "left_joint4",
                "left_joint5",
                "left_joint6",
                "right_gripper",
                "left_gripper"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "right_joint1",
                "right_joint2",
                "right_joint3",
                "right_joint4",
                "right_joint5",
                "right_joint6",
                "left_joint1",
                "left_joint2",
                "left_joint3",
                "left_joint4",
                "left_joint5",
                "left_joint6",
                "right_gripper",
                "left_gripper"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                640,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 640,
                "video.width": 480,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right": {
            "dtype": "video",
            "shape": [
                640,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 640,
                "video.width": 480,
                "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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            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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