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float32
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65.6
frame_index
int64
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328
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19.4
97
0
97
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19.6
98
0
98
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[ 0, 0, 0, 0, 0, 0, 0.9625955820083618, 0.6066697239875793, -3.531672716140747, 0.6215343475341797, -0.9460541605949402, -0.017923628911376, 3.2400476932525635, 0 ]
[ 15.255999565124512, 112.1780014038086, -82.33100128173828, 48.92399978637695, 65.77899932861328, -33.78099822998047, 3.1500000953674316, 0.0010000000474974513, -0.01771874912083149, -1.775418758392334, -0.8599500060081482, 0.6603651642799377, 0.015335040166974068, 0.02779475972056389, 35...
19.799999
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": 0,
    "total_frames": 0,
    "total_tasks": 0,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {},
    "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"
            ]
        },
        "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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