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float32
0
13.6
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int64
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271
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int64
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int64
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2.85
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2.9
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3
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3.05
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3.1
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3.15
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3.2
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3.25
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3.3
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3.35
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3.4
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3.45
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3.5
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3.55
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3.6
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3.65
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3.7
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3.75
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3.8
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3.85
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3.9
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3.95
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4
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4.05
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4.1
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4.15
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4.2
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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
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4.5
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4.55
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4.6
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4.65
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4.7
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4.75
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4.8
96
0
96
0
[ 0.007317955140024424, 0.031873736530542374, -0.003830418922007084, -0.13179081678390503, -0.040321603417396545, -0.002268821932375431, 0, 0, 0, 0, 0, 0, 2.930450201034546, 0 ]
[ -29.08099937438965, 61.69599914550781, -14.187000274658203, -20.516000747680664, 13.928000450134277, -0.652999997138977, 2.6600000858306885, -0.003000000026077032, 0.056699998676776886, -0.04961249977350235, -1.0808438062667847, -0.04983887821435928, -0.549186110496521, -0.0095843998715281...
4.85
97
0
97
0
[ -0.00398809090256691, 0.012956904247403145, 0.0018405922455713153, -0.08674601465463638, -0.07867034524679184, 0.004270493984222412, 0, 0, 0, 0, 0, 0, 2.829336404800415, 0 ]
[ -29.08099937438965, 61.69599914550781, -14.187000274658203, -20.516000747680664, 13.928000450134277, -0.652999997138977, 2.6600000858306885, -0.004000000189989805, 0.07087499648332596, -0.2303437441587448, -1.0560375452041626, -0.08913491666316986, -0.6344872713088989, -0.02108567953109741...
4.9
98
0
98
0
[ -0.004965298809111118, -0.0014852264430373907, -0.0003795792581513524, -0.15843383967876434, -0.010250620543956757, -0.0004206484882161021, 0, 0, 0, 0, 0, 0, 7.863772392272949, 0 ]
[ -29.08099937438965, 61.69599914550781, -14.187000274658203, -20.624000549316406, 13.928000450134277, -0.652999997138977, 2.6600000858306885, 0.03200000151991844, 0.06615000218153, -0.18545624613761902, -1.0560375452041626, -0.0488804392516613, -0.6718664169311523, -0.003833760041743517, ...
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": 1,
    "total_frames": 272,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:1"
    },
    "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.top": {
            "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
            }
        },
        "observation.images.right": {
            "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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