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observation.sensor.tactile_1
float32
468
520
observation.sensor.tactile_2
float32
477
510
timestamp
float32
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frame_index
int64
0
541
episode_index
int64
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index
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9.99k
task_index
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501
497
2.966667
89
0
89
0
[ 36.56103515625, -37.06444549560547, -74.17115783691406, -50.64461898803711, 12.847738265991211, 2.5125732421875, -20.213756561279297, 29.429412841796875 ]
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505
498
3
90
0
90
0
[ 36.57647705078125, -35.01613998413086, -74.42186737060547, -48.65021514892578, 12.905516624450684, 1.9411888122558594, -20.727062225341797, 29.099666595458984 ]
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503
499
3.033333
91
0
91
0
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499
501
3.066667
92
0
92
0
[ 36.42595672607422, -31.028873443603516, -74.61007690429688, -44.59138488769531, 13.044045448303223, 0.7030982971191406, -21.629539489746094, 28.483898162841797 ]
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500
502
3.1
93
0
93
0
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505
499
3.133333
94
0
94
0
[ 36.08515930175781, -27.22578239440918, -74.41272735595703, -40.323936462402344, 13.141792297363281, -0.6026153564453125, -22.266719818115234, 27.890546798706055 ]
[ 36.51315689086914, -34.58888244628906, -73.1448745727539, -51.87969970703125, 12.94247817993164, 0.9859885573387146, -21.146398544311523, 28.551912307739258 ]
501
503
3.166667
95
0
95
0
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[ 36.34868240356445, -32.567752838134766, -73.1992416381836, -49.946292877197266, 12.997787475585938, 0.363258957862854, -21.55951499938965, 28.278688430786133 ]
503
500
3.2
96
0
96
0
[ 35.46570587158203, -23.541065216064453, -73.75316619873047, -35.82360076904297, 13.280844688415527, -2.1518402099609375, -22.750713348388672, 27.328828811645508 ]
[ 36.239036560058594, -30.730361938476562, -73.1992416381836, -47.905479431152344, 13.05309772491455, -0.259470671415329, -21.920991897583008, 28.005464553833008 ]
504
500
3.233333
97
0
97
0
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[ 36.019737243652344, -28.61736297607422, -73.1992416381836, -45.54242706298828, 13.108407020568848, -0.9859885573387146, -22.2308292388916, 27.732240676879883 ]
504
498
3.266667
98
0
98
0
[ 34.592185974121094, -20.030319213867188, -72.62859344482422, -31.265291213989258, 13.424103736877441, -3.7527923583984375, -22.980449676513672, 26.835411071777344 ]
[ 35.74561309814453, -26.68810272216797, -73.1992416381836, -43.501609802246094, 13.163717269897461, -1.7125065326690674, -22.48902702331543, 27.459016799926758 ]
504
498
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": 9990,
    "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
            ],
            "names": null
        },
        "frame_index": {
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                1
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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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