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float32
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20.5
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int64
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614
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[ 0.47032055258750916, -0.08504386246204376, 0.15412868559360504, 0.043548110872507095, 0.13172726333141327, 2.3059499263763428, 0.08500000089406967, 0, 0 ]
[ 0.19524767994880676, 0.0477442666888237, -0.050752103328704834, 0.003206690540537238, -0.008491584099829197, 0.02011849917471409 ]
3
90
0
90
0
[ 0.5448038578033447, -0.11236824840307236, 0.11403745412826538, -0.09037154167890549, 0.17443406581878662, 2.5051517486572266, 105.65390014648438, 258.66876220703125, 251.9759521484375, 30, 30, 30, -0.0026021599769592285 ]
[ 0.46944659948349, -0.0869608148932457, 0.1526784598827362, 0.039612650871276855, 0.1315564662218094, 2.315106153488159, 0.08500000089406967, 0, 0 ]
[ 0.06766156852245331, 0.18668676912784576, 0.29366374015808105, 0.005897686816751957, 0.009736355394124985, 0.011922046542167664 ]
3.033333
91
0
91
0
[ 0.545979917049408, -0.11452467739582062, 0.11244833469390869, -0.08899518847465515, 0.16905760765075684, 2.510891914367676, 108.46096801757812, 255.45196533203125, 250.3896484375, 30, 30, 30, -0.002078533172607422 ]
[ 0.4685573875904083, -0.08888038247823715, 0.15121681988239288, 0.03592531010508537, 0.1309317946434021, 2.324449300765991, 0.08500000089406967, 0, 0 ]
[ -0.34033676981925964, 0.12397819757461548, 0.12403856217861176, 0.037325095385313034, 0.06146563962101936, 0.02068561129271984 ]
3.066667
92
0
92
0
[ 0.5475959777832031, -0.1168542355298996, 0.11045552045106888, -0.08907795697450638, 0.16593267023563385, 2.5237505435943604, 106.71157836914062, 255.09405517578125, 250.78070068359375, 30, 30, 30, -0.0012990832328796387 ]
[ 0.4676995873451233, -0.09073914587497711, 0.1498333215713501, 0.0325363352894783, 0.1302863359451294, 2.333876848220825, 0.08500000089406967, 0, 0 ]
[ -0.10369989275932312, 0.12055324763059616, -0.327380508184433, 0.03345445170998573, 0.02094425819814205, 0.0220227912068367 ]
3.1
93
0
93
0
[ 0.5490606427192688, -0.11899643391370773, 0.10899269580841064, -0.08740141987800598, 0.15808257460594177, 2.5310709476470947, 107.47491455078125, 254.33001708984375, 251.3314208984375, 30, 30, 30, -0.0017575621604919434 ]
[ 0.46685513854026794, -0.09259837865829468, 0.14837458729743958, 0.029380638152360916, 0.12909995019435883, 2.3432350158691406, 0.08500000089406967, 0, 0 ]
[ -0.06863730400800705, 0.3706769049167633, 0.02007352001965046, 0.041509851813316345, 0.008134093135595322, 0.0074236830696463585 ]
3.133333
94
0
94
0
[ 0.5505737662315369, -0.12240415811538696, 0.10654067248106003, -0.08737090229988098, 0.15295931696891785, 2.538372755050659, 105.22955322265625, 256.20574951171875, 254.0679931640625, 30, 30, 30, -0.0011341571807861328 ]
[ 0.46604660153388977, -0.09438438713550568, 0.14690618216991425, 0.026459146291017532, 0.12767675518989563, 2.3525431156158447, 0.08500000089406967, 0, 0 ]
[ -0.16071847081184387, 0.14091607928276062, 0.04987124726176262, 0.047373488545417786, 0.03897952660918236, 0.010578695684671402 ]
3.166667
95
0
95
0
[ 0.5521488785743713, -0.1259492039680481, 0.10380886495113373, -0.08455513417720795, 0.14871470630168915, 2.5494518280029297, 103.34115600585938, 260.0273132324219, 258.73565673828125, 30, 30, 30, -0.0004916787147521973 ]
[ 0.46522170305252075, -0.09620384871959686, 0.14543405175209045, 0.023702546954154968, 0.1262160837650299, 2.3623046875, 0.08500000089406967, 0, 0 ]
[ -0.31279727816581726, 0.3332722783088684, -0.17401131987571716, 0.04899757727980614, 0.02780408225953579, 0.027887064963579178 ]
3.2
96
0
96
0
[ 0.5540362000465393, -0.12899217009544373, 0.10139986127614975, -0.08266939967870712, 0.1429574340581894, 2.560701847076416, 101.160888671875, 262.21588134765625, 268.64910888671875, 30, 30, 30, 0.00008976459503173828 ]
[ 0.46447518467903137, -0.09790775179862976, 0.14407508075237274, 0.021516595035791397, 0.124440997838974, 2.3714399337768555, 0.08500000089406967, 0, 0 ]
[ -0.03579658269882202, 0.31426000595092773, -0.401323139667511, 0.06661967188119888, -0.0008398442296311259, 0.022539308294653893 ]
3.233333
97
0
97
0
[ 0.5561506152153015, -0.13389258086681366, 0.09751951694488525, -0.07792721688747406, 0.13654139637947083, 2.5799214839935303, 100.74801635742188, 271.3057556152344, 281.14117431640625, 30, 30, 30, 0.0016001462936401367 ]
[ 0.4637898802757263, -0.09958373010158539, 0.14270207285881042, 0.019611399620771408, 0.12234973162412643, 2.3811373710632324, 0.08500000089406967, 0, 0 ]
[ -0.02573825977742672, 0.038472652435302734, 0.13868717849254608, 0.011118539609014988, 0.008685266599059105, 0.031155617907643318 ]
3.266667
98
0
98
0
[ 0.557913064956665, -0.13880911469459534, 0.09401515871286392, -0.07212929427623749, 0.1301744282245636, 2.597111940383911, 109.40399169921875, 285.4705810546875, 292.81695556640625, 30, 30, 30, 0.0017033815383911133 ]
[ 0.46317338943481445, -0.1013721227645874, 0.14126232266426086, 0.017894187942147255, 0.12030413001775742, 2.3908231258392334, 0.08500000089406967, 0, 0 ]
[ -0.168252632021904, 0.34813210368156433, 0.11069737374782562, 0.036074426025152206, 0.02691815234720707, 0.016126474365592003 ]
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": "custom_manipulator",
    "total_episodes": 7,
    "total_frames": 3527,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:7"
    },
    "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": [
                "position.x",
                "position.y",
                "position.z",
                "orientation.x",
                "orientation.y",
                "orientation.z",
                "stiffness.tx",
                "stiffness.ty",
                "stiffness.tz",
                "stiffness.rx",
                "stiffness.ry",
                "stiffness.rz",
                "gripper"
            ],
            "shape": [
                13
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "position.x",
                "position.y",
                "position.z",
                "orientation.x",
                "orientation.y",
                "orientation.z",
                "gripper",
                "gripper_force",
                "obj_detected"
            ],
            "shape": [
                9
            ]
        },
        "observation.images.wrist_rgb": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.behind_rgb": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.environment_state": {
            "dtype": "float32",
            "names": [
                "ft_fx",
                "ft_fy",
                "ft_fz",
                "ft_tx",
                "ft_ty",
                "ft_tz"
            ],
            "shape": [
                6
            ]
        },
        "timestamp": {
            "dtype": "float32",
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                1
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            "names": null
        },
        "frame_index": {
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        "episode_index": {
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            "names": null
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        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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