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float32
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18.5
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int64
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369
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int64
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int64
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2.95
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3
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3.1
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3.75
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4
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4.1
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4.15
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[ -26.867000579833984, 92.7760009765625, -29.81800079345703, -12.35099983215332, 2.0160000324249268, -11.258000373840332, 2.869999885559082, -0.06700000166893005, -0.10631249845027924, -0.9804375171661377, -0.9048374891281128, 0.08625960350036621, -0.707328736782074, -0.01245971955358982, ...
4.8
96
0
96
0
[ -0.004221064038574696, -0.009009198285639286, -0.005688540171831846, 0.03964307904243469, -0.2609157860279083, -0.0040748231112957, 0, 0, 0, 0, 0, 0, 2.831519603729248, 0 ]
[ -26.867000579833984, 92.7760009765625, -29.8439998626709, -12.331000328063965, 1.6050000190734863, -11.258000373840332, 8.680000305175781, 0.10899999737739563, -0.12639375030994415, -1.037137508392334, -0.7052062749862671, 0.07475832104682922, -0.7121208906173706, -0.004792199935764074, ...
4.85
97
0
97
0
[ -0.010405356995761395, 0.03942818194627762, -0.00577791640534997, 0.02831248752772808, -0.10240331292152405, 0.003931710496544838, 0, 0, 0, 0, 0, 0, 2.681793689727783, 0 ]
[ -26.867000579833984, 92.7760009765625, -29.8439998626709, -12.331000328063965, 1.3200000524520874, -11.258000373840332, 4.760000228881836, -0.014000000432133675, 0.1098562479019165, -1.0666687488555908, -0.7465500235557556, 0.030670080333948135, -0.5846483707427979, -0.04121292009949684, ...
4.9
98
0
98
0
[ -0.0008962185820564628, 0.0030877969693392515, -0.011476952582597733, -0.12530148029327393, -0.07126469165086746, 0.0001949720026459545, 0, 0, 0, 0, 0, 0, 8.208539009094238, 0 ]
[ -26.867000579833984, 92.7760009765625, -29.8439998626709, -12.331000328063965, 1.315000057220459, -11.258000373840332, 2.869999885559082, -0.028999999165534973, 0.043706249445676804, -1.098562479019165, -0.7607250213623047, 0.038337599486112595, -0.595191240310669, -0.02779475972056389, ...
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": 370,
    "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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