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float32
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15.3
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int64
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2.35
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2.45
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2.55
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2.75
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2.8
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2.85
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2.9
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2.95
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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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4.1
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[ 1.4930000305175781, 1.1799999475479126, 0, 0, 0.10700000077486038, -0.22499999403953552, 1.7389999628067017, 6.435999870300293, -5.591000080108643, -0.6290000081062317, -1.1339999437332153, 1.1490000486373901, 3.299999952316284, -0.017999999225139618 ]
[ 4.49399995803833, 80.63899993896484, -53.41400146484375, 15.522000312805176, 43.51100158691406, -35.93600082397461, 3.2200000286102295, -0.017999999225139618, 0.14647500216960907, -0.5835375189781189, -1.3100062608718872, 0.32778647541999817, -0.39487728476524353, -0.08913491666316986, 2...
4.75
95
0
95
0
[ 1.680999994277954, 1.4730000495910645, -0.035999998450279236, 0, 0, -0.17399999499320984, 2.0950000286102295, 8.223999977111816, -6.833000183105469, -0.6499999761581421, -1.281999945640564, 1.5440000295639038, 3.299999952316284, -0.004000000189989805 ]
[ 6.175000190734863, 82.11199951171875, -53.45000076293945, 15.522000312805176, 43.51100158691406, -36.11000061035156, 3.2200000286102295, -0.004000000189989805, 0.2527875006198883, -0.6402375102043152, -1.2308624982833862, 0.24631908535957336, -0.346955269575119, -0.04408824071288109, 270...
4.8
96
0
96
0
[ 2.128999948501587, 1.371999979019165, -0.2549999952316284, 0, 0.12099999934434891, 0, 1.4919999837875366, 10.562999725341797, -5.461999893188477, -0.6349999904632568, -1.0920000076293945, 1.8869999647140503, 3.299999952316284, -0.009999999776482582 ]
[ 8.303999900817871, 83.48400115966797, -53.70500183105469, 15.522000312805176, 43.63199996948242, -36.11000061035156, 3.2200000286102295, -0.009999999776482582, 0.1996312439441681, -0.6142500042915344, -1.2592124938964844, 0.1035115197300911, -0.42650580406188965, -0.07667519897222519, 27...
4.85
97
0
97
0
[ 1.784000039100647, 1.3910000324249268, -0.46799999475479126, -0.11800000071525574, 0, 0.2280000001192093, 2.2249999046325684, 9.053999900817871, -4.61299991607666, 359.5429992675781, -0.8700000047683716, 1.437000036239624, 3.299999952316284, -0.01899999938905239 ]
[ 10.088000297546387, 84.875, -54.17300033569336, 15.404000282287598, 43.63199996948242, -35.88199996948242, 3.2200000286102295, -0.01899999938905239, 0.11576250195503235, -0.8942062258720398, -1.314731240272522, 0.06900767982006073, -0.49838879704475403, 0.03929603844881058, 274.496002197...
4.9
98
0
98
0
[ 1.465000033378601, 1.3250000476837158, -0.5339999794960022, -0.39399999380111694, 0, 1.0130000114440918, 2.3550000190734863, 7.414999961853027, -4.173999786376953, -0.47699999809265137, -0.8709999918937683, 0.5189999938011169, 3.299999952316284, -0.006000000052154064 ]
[ 11.553000450134277, 86.19999694824219, -54.707000732421875, 15.010000228881836, 43.63199996948242, -34.86899948120117, 3.2200000286102295, -0.006000000052154064, 0.05079374834895134, -0.9178312420845032, -1.235587477684021, -0.030670080333948135, -0.5453523397445679, 0.12459719926118851, ...
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": 50,
    "total_frames": 9885,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:50"
    },
    "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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