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float32
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39.3
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int64
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1.18k
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2.666667
80
0
80
0
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[ 0.5286070704460144, -0.1977614462375641, 0.07406845688819885, 0.11236195266246796, -0.007141278125345707, 2.853813409805298, 0.08500000089406967, 0, 0 ]
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2.7
81
0
81
0
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2.733333
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0
82
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[ 0.5301461219787598, -0.20147734880447388, 0.07032499462366104, 0.10858999192714691, -0.009815827012062073, 2.8706037998199463, 0.08500000089406967, 0, 0 ]
[ -0.700320839881897, 0.5643778443336487, 1.481112003326416, 0.011607707478106022, 0.11262955516576767, 0.15642303228378296, 499.9996643066406, 499.9998779296875, 499.99969482421875, 30, 30, 30 ]
2.766667
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0
83
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[ 0.5309200286865234, -0.203217014670372, 0.06863676756620407, 0.10688824206590652, -0.010987075977027416, 2.8783974647521973, 0.08500000089406967, 0, 0 ]
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2.8
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84
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2.833333
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85
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[ 0.5325103998184204, -0.20656073093414307, 0.0652277022600174, 0.1033184826374054, -0.013434430584311485, 2.8941338062286377, 0.08500000089406967, 0, 0 ]
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2.866667
86
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86
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[ 0.5332711338996887, -0.20798499882221222, 0.06365487724542618, 0.10163255780935287, -0.014627090655267239, 2.9013383388519287, 0.08500000089406967, 0, 0 ]
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2.9
87
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2.933333
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2.966667
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89
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3
90
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90
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3.033333
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91
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3.066667
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92
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3.1
93
0
93
0
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3.133333
94
0
94
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3.166667
95
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95
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3.2
96
0
96
0
[ 0.5565930604934692, -0.22409656643867493, 0.04333840683102608, -0.1702062338590622, -0.047250278294086456, 3.0157811641693115, 503.6398620605469, 528.1023559570312, 521.1907958984375, 30, 30, 30, -0.021300792694091797 ]
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3.233333
97
0
97
0
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3.266667
98
0
98
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[ -1.640863060951233, 0.8018099069595337, 2.6109683513641357, 0.05940902605652809, 0.1384405642747879, 0.19325624406337738, 499.9999694824219, 500, 499.9999694824219, 30, 30, 30 ]
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": 10,
    "total_frames": 7040,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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": [
                "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"
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            "shape": [
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        },
        "observation.state": {
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            "names": [
                "position.x",
                "position.y",
                "position.z",
                "orientation.x",
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                "orientation.z",
                "gripper",
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                "obj_detected"
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            "shape": [
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        "observation.images.wrist_rgb": {
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            "shape": [
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            "names": [
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                "channels"
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            "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
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        },
        "observation.images.behind_rgb": {
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            "names": [
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
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        },
        "observation.environment_state": {
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            "names": [
                "ft_fx",
                "ft_fy",
                "ft_fz",
                "ft_tx",
                "ft_ty",
                "ft_tz",
                "stiffness_tx",
                "stiffness_ty",
                "stiffness_tz",
                "stiffness_rx",
                "stiffness_ry",
                "stiffness_rz"
            ],
            "shape": [
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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