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observation.sensor.tactile_1
float32
453
513
observation.sensor.tactile_2
float32
466
506
timestamp
float32
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20.4
frame_index
int64
0
611
episode_index
int64
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index
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10.7k
task_index
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[ 38.980262756347656, -45.521358489990234, -72.27507781982422, -59.50590896606445, 10.232300758361816, 6.590555191040039, -15.982442855834961, 31.693988800048828 ]
497
497
2.966667
89
0
89
0
[ 38.2711181640625, -36.20912551879883, -73.52738952636719, -48.68252182006836, 10.4366455078125, 4.995731353759766, -17.335411071777344, 30.755874633789062 ]
[ 38.81578826904297, -43.68396759033203, -72.27507781982422, -58.21697235107422, 10.28761100769043, 6.1754021644592285, -16.34391975402832, 31.420764923095703 ]
498
498
3
90
0
90
0
[ 38.028961181640625, -34.30503845214844, -73.3916244506836, -46.876121520996094, 10.508928298950195, 4.340694427490234, -17.657867431640625, 30.47102928161621 ]
[ 38.65131759643555, -41.75470733642578, -72.27507781982422, -56.820621490478516, 10.28761100769043, 5.656460762023926, -16.653757095336914, 31.147541046142578 ]
497
497
3.033333
91
0
91
0
[ 37.75996398925781, -32.38484191894531, -73.19648742675781, -44.95915222167969, 10.587039947509766, 3.65850830078125, -17.933979034423828, 30.196155548095703 ]
[ 38.48684310913086, -39.733577728271484, -72.27507781982422, -55.1020393371582, 10.342920303344727, 5.137519359588623, -17.015233993530273, 30.874317169189453 ]
500
497
3.066667
92
0
92
0
[ 37.399200439453125, -30.54486656188965, -72.88213348388672, -43.05351257324219, 10.656476974487305, 2.966564178466797, -18.17038345336914, 29.941131591796875 ]
[ 38.21271896362305, -37.804317474365234, -72.22071075439453, -53.59828186035156, 10.39823055267334, 4.61857795715332, -17.325071334838867, 30.601093292236328 ]
498
499
3.1
93
0
93
0
[ 37.01673126220703, -28.669673919677734, -72.56663513183594, -41.067138671875, 10.736538887023926, 2.2429351806640625, -18.409109115600586, 29.658161163330078 ]
[ 37.9934196472168, -35.875057220458984, -72.27507781982422, -51.77228927612305, 10.508849143981934, 3.9958484172821045, -17.63490867614746, 30.327869415283203 ]
501
502
3.133333
94
0
94
0
[ 36.555152893066406, -26.89369010925293, -72.14620208740234, -39.158843994140625, 10.809356689453125, 1.5494422912597656, -18.57522964477539, 29.42247200012207 ]
[ 37.66447448730469, -33.945796966552734, -72.22071075439453, -50.053707122802734, 10.564159393310547, 3.3731188774108887, -17.89310646057129, 30.054645538330078 ]
504
498
3.166667
95
0
95
0
[ 36.08484649658203, -25.1294002532959, -71.7037353515625, -37.22239303588867, 10.9035005569458, 0.8268356323242188, -18.76430892944336, 29.177114486694336 ]
[ 37.33552551269531, -31.924667358398438, -72.11198425292969, -48.12030029296875, 10.674778938293457, 2.6466009616851807, -18.151304244995117, 29.781421661376953 ]
500
500
3.2
96
0
96
0
[ 35.55957794189453, -23.357526779174805, -71.14629364013672, -35.220401763916016, 10.989157676696777, 0.10036087036132812, -18.88144302368164, 28.949743270874023 ]
[ 36.842105865478516, -30.17914581298828, -71.89453887939453, -46.18689727783203, 10.730088233947754, 1.9200830459594727, -18.409502029418945, 29.508195877075195 ]
504
497
3.233333
97
0
97
0
[ 34.9656982421875, -21.600921630859375, -70.54459381103516, -33.2380256652832, 11.091202735900879, -0.5956077575683594, -19.023237228393555, 28.746562957763672 ]
[ 36.293861389160156, -28.158016204833984, -71.51399993896484, -44.146080017089844, 10.840707778930664, 1.1935651302337646, -18.564420700073242, 29.23497200012207 ]
498
502
3.266667
98
0
98
0
[ 34.308143615722656, -19.914737701416016, -69.80609130859375, -31.32328224182129, 11.196816444396973, -1.2489662170410156, -19.08724594116211, 28.54299545288086 ]
[ 35.74561309814453, -26.412494659423828, -71.02473449707031, -42.21267318725586, 10.896018028259277, 0.46704721450805664, -18.770978927612305, 28.961748123168945 ]
504
501
3.3
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": "cranex7_follower",
    "total_episodes": 20,
    "total_frames": 10693,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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": [
                "ID2.pos",
                "ID3.pos",
                "ID4.pos",
                "ID5.pos",
                "ID6.pos",
                "ID7.pos",
                "ID8.pos",
                "gripper.pos"
            ],
            "shape": [
                8
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "ID2.pos",
                "ID3.pos",
                "ID4.pos",
                "ID5.pos",
                "ID6.pos",
                "ID7.pos",
                "ID8.pos",
                "gripper.pos"
            ],
            "shape": [
                8
            ]
        },
        "observation.sensor.tactile_1": {
            "dtype": "float32",
            "names": [
                "value"
            ],
            "shape": [
                1
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        },
        "observation.sensor.tactile_2": {
            "dtype": "float32",
            "names": [
                "value"
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            "shape": [
                1
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        },
        "observation.images.camera_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": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_wrist": {
            "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": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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