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[ 0.006748589221388102, -0.005384458228945732, 0.0018006691243499517, 0.0028107170946896076, -0.011868463829159737, -0.006625403184443712, 0, 0, 0, 0, 0, 0, 0.010452277958393097, 0 ]
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4
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4.15
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4.25
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4.3
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4.55
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4.65
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4.75
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95
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[ -0.00016069674165919423, 0.011932621710002422, -0.009485282003879547, -0.05231736600399017, -0.12940733134746552, 0.00023767593665979803, 0, 0, 0, 0, 0, 0, -0.020927170291543007, 0 ]
[ 25.097000122070312, 110.75900268554688, -87.08599853515625, -1.4839999675750732, 47.59400177001953, -33.744998931884766, -0.6299999952316284, -0.06800000369548798, -0.10158749669790268, -1.9963124990463257, -1.2178688049316406, -0.05942327901721001, -0.5808146595954895, 0.01629347912967205...
4.8
96
0
96
0
[ 0.0037562381476163864, -0.04396282508969307, -0.008718656376004219, -0.3729723393917084, -0.0696987733244896, -0.012441212311387062, 0, 0, 0, 0, 0, 0, 0.07476963847875595, 0 ]
[ 25.097000122070312, 110.75900268554688, -87.13800048828125, -1.4839999675750732, 48.04100036621094, -33.744998931884766, -0.6299999952316284, -0.04500000178813934, -0.05079374834895134, -2.06364369392395, -1.0324125289916992, -0.12459719926118851, -0.4734693467617035, 0.043129801750183105,...
4.85
97
0
97
0
[ 0.0025872981641441584, 0.07880829274654388, -0.02937399409711361, -0.4220387637615204, -0.2443753480911255, -0.012600773945450783, 0, 0, 0, 0, 0, 0, 0.019653817638754845, 0 ]
[ 25.097000122070312, 110.75900268554688, -87.13800048828125, -1.5850000381469727, 47.86000061035156, -33.744998931884766, -0.6299999952316284, -0.061000000685453415, -0.04843125119805336, -1.9644187688827515, -1.0028812885284424, -0.12363875657320023, -0.4389655292034149, 0.0086259599775075...
4.9
98
0
98
0
[ -0.004753335379064083, 0.006157132796943188, -0.000021277019186527468, 0.006206579506397247, -0.0010950404684990644, -0.003045935183763504, 0, 0, 0, 0, 0, 0, 0.046265989542007446, 0 ]
[ 25.097000122070312, 110.75900268554688, -87.13800048828125, -1.9019999504089355, 47.86000061035156, -33.744998931884766, -0.6299999952316284, -0.03200000151991844, -0.09331875294446945, -1.7364375591278076, -0.910743772983551, -0.19168800115585327, -0.4677187204360962, 0.011501279659569263...
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": "piper",
    "total_episodes": 2,
    "total_frames": 735,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:2"
    },
    "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": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "end_effector.x",
                "end_effector.y",
                "end_effector.z",
                "end_effector.rx",
                "end_effector.ry",
                "end_effector.rz",
                "gripper.pos",
                "gripper.effort"
            ],
            "shape": [
                14
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos",
                "gripper.effort",
                "joint_1.effort",
                "joint_2.effort",
                "joint_3.effort",
                "joint_4.effort",
                "joint_5.effort",
                "joint_6.effort",
                "end_effector.x",
                "end_effector.y",
                "end_effector.z",
                "end_effector.rx",
                "end_effector.ry",
                "end_effector.rz"
            ],
            "shape": [
                20
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "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",
            "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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