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observation.sensor.tactile_1
float32
345
556
observation.sensor.tactile_2
float32
320
562
timestamp
float32
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13.6
frame_index
int64
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408
episode_index
int64
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index
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3.72k
task_index
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501
494
2.866667
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86
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501
494
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500
493
2.933333
88
0
88
0
[ 6.837890625, -1.5289688110351562, -0.8024482727050781, -10.142507553100586, 23.03702163696289, -13.558441162109375, -17.707162857055664, 45.53242492675781 ]
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502
492
2.966667
89
0
89
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498
492
3
90
0
90
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[ 7.5475029945373535, -2.3468971252441406, -1.7409191131591797, -9.277039527893066, 22.912574768066406, -14.32522964477539, -17.320524215698242, 45.92873764038086 ]
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499
494
3.033333
91
0
91
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500
492
3.066667
92
0
92
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501
494
3.1
93
0
93
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499
491
3.133333
94
0
94
0
[ 8.998382568359375, -4.829689025878906, -3.9367198944091797, -5.7250261306762695, 22.268064498901367, -17.26491928100586, -16.077754974365234, 46.60079574584961 ]
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498
494
3.166667
95
0
95
0
[ 9.35386848449707, -5.655113220214844, -4.533712387084961, -4.3690080642700195, 22.000720977783203, -18.403160095214844, -15.607568740844727, 46.7158317565918 ]
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500
495
3.2
96
0
96
0
[ 9.701699256896973, -6.535648345947266, -5.138669967651367, -2.8505547046661377, 21.685428619384766, -19.721012115478516, -15.059946060180664, 46.82610321044922 ]
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501
492
3.233333
97
0
97
0
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503
495
3.266667
98
0
98
0
[ 10.374734878540039, -8.487480163574219, -6.347043991088867, 0.7102624177932739, 20.857742309570312, -23.030040740966797, -13.715102195739746, 46.97095489501953 ]
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500
493
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": 10,
    "total_frames": 3720,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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
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        },
        "observation.state": {
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            "names": [
                "ID2.pos",
                "ID3.pos",
                "ID4.pos",
                "ID5.pos",
                "ID6.pos",
                "ID7.pos",
                "ID8.pos",
                "gripper.pos"
            ],
            "shape": [
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        },
        "observation.sensor.tactile_1": {
            "dtype": "float32",
            "names": [
                "value"
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            "shape": [
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        },
        "observation.sensor.tactile_2": {
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            "names": [
                "value"
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            "shape": [
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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": [
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                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
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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