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float32
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int64
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int64
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int64
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4
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5
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[ 0.47479280829429626, -0.1347803771495819, 0.34627002477645874, -3.1083388328552246, -0.12906037271022797, -0.6716390252113342, 0.09185585379600525 ]
6.466667
97
0
97
0
[ 0.4637244939804077, -0.13901710510253906, 0.3533364534378052, -3.08381724357605, -0.14284783601760864, -0.6398747563362122, 0, 0 ]
[ 0.47556111216545105, -0.13261297345161438, 0.3429400324821472, -3.1205384731292725, -0.11931072920560837, -0.6784505248069763, 0.09185585379600525 ]
6.533333
98
0
98
0
[ 0.4654443860054016, -0.13818621635437012, 0.35050588846206665, -3.088550567626953, -0.1376354694366455, -0.6499356627464294, 0, 0 ]
[ 0.4757756292819977, -0.12972359359264374, 0.33881011605262756, 3.141353130340576, -0.1037997454404831, -0.682001531124115, 0.09185585379600525 ]
6.6
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": "franka",
    "total_episodes": 20,
    "total_frames": 6454,
    "total_tasks": 2,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:20"
    },
    "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": [
                8
            ],
            "names": [
                "x",
                "y",
                "z",
                "rx",
                "ry",
                "rz",
                "rw",
                "gripper"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "roll",
                "pitch",
                "yaw",
                "gripper"
            ]
        },
        "observation.images.exterior_image_1_left": {
            "dtype": "video",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 180,
                "video.width": 320,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.exterior_image_2_left": {
            "dtype": "video",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 180,
                "video.width": 320,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_image_left": {
            "dtype": "video",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 180,
                "video.width": 320,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
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                1
            ],
            "names": null
        },
        "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
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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