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2.9
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[ 0.3009999990463257, 0.12370000034570694, 1.1720999479293823, 0.20479999482631683, 0.8361999988555908, 0.486299991607666, -0.14959999918937683, 0 ]
2.933333
88
0
88
0
[ 0.3425000011920929, 0.006300000008195639, 0.2046000063419342, -2.814500093460083, -0.7038000226020813, 2.419800043106079, 0.7700999975204468, 0.03999999910593033, 0.03999999910593033 ]
[ 0.3009999990463257, 0.12370000034570694, 1.1720999479293823, 0.20479999482631683, 0.8361999988555908, 0.486299991607666, -0.14959999918937683, 0 ]
2.966667
89
0
89
0
[ 0.34769999980926514, 0.007199999876320362, 0.19779999554157257, -2.814300060272217, -0.7062000036239624, 2.421099901199341, 0.7720000147819519, 0.03999999910593033, 0.03999999910593033 ]
[ 0.3009999990463257, 0.12370000034570694, 1.1720999479293823, 0.20479999482631683, 0.8361999988555908, 0.486299991607666, -0.14959999918937683, 0 ]
3
90
0
90
0
[ 0.351500004529953, 0.00800000037997961, 0.19249999523162842, -2.814199924468994, -0.7085000276565552, 2.422300100326538, 0.7732999920845032, 0.03999999910593033, 0.03999999910593033 ]
[ 0.3009999990463257, 0.12370000034570694, 1.1720999479293823, 0.20479999482631683, 0.8361999988555908, 0.486299991607666, -0.14959999918937683, 0 ]
3.033333
91
0
91
0
[ 0.35580000281333923, 0.009100000374019146, 0.18690000474452972, -2.814300060272217, -0.7105000019073486, 2.4233999252319336, 0.774399995803833, 0.03999999910593033, 0.03999999910593033 ]
[ 0.3009999990463257, 0.12370000034570694, 1.1720999479293823, 0.20479999482631683, 0.8361999988555908, 0.486299991607666, -0.14959999918937683, 0 ]
3.066667
92
0
92
0
[ 0.3601999878883362, 0.010099999606609344, 0.1809999942779541, -2.8143999576568604, -0.7121999859809875, 2.4244000911712646, 0.7753000259399414, 0.03999999910593033, 0.03999999910593033 ]
[ 0.3009999990463257, 0.12370000034570694, 1.1720999479293823, 0.20479999482631683, 0.8361999988555908, 0.486299991607666, -0.14959999918937683, 0 ]
3.1
93
0
93
0
[ 0.36469998955726624, 0.01119999960064888, 0.17509999871253967, -2.81469988822937, -0.7139000296592712, 2.425299882888794, 0.776199996471405, 0.03999999910593033, 0.03999999910593033 ]
[ 0.3009999990463257, 0.12370000034570694, 1.1720999479293823, 0.20479999482631683, 0.8361999988555908, 0.486299991607666, -0.14959999918937683, 0 ]
3.133333
94
0
94
0
[ 0.36910000443458557, 0.012199999764561653, 0.16930000483989716, -2.8148999214172363, -0.7153000235557556, 2.426100015640259, 0.7770000100135803, 0.03999999910593033, 0.03999999910593033 ]
[ 0.3009999990463257, 0.12370000034570694, 1.1720999479293823, 0.20479999482631683, 0.8361999988555908, 0.486299991607666, -0.14959999918937683, 0 ]
3.166667
95
0
95
0
[ 0.3734999895095825, 0.013100000098347664, 0.16349999606609344, -2.815000057220459, -0.71670001745224, 2.4268999099731445, 0.7777000069618225, 0.03999999910593033, 0.03999999910593033 ]
[ 0.3009999990463257, 0.12370000034570694, 1.1720999479293823, 0.20479999482631683, 0.8361999988555908, 0.486299991607666, -0.14959999918937683, 0 ]
3.2
96
0
96
0
[ 0.37779998779296875, 0.013899999670684338, 0.15770000219345093, -2.815200090408325, -0.7178999781608582, 2.4277000427246094, 0.7784000039100647, 0.03999999910593033, 0.03999999910593033 ]
[ 0.3009999990463257, 0.12370000034570694, 1.1720999479293823, 0.20479999482631683, 0.8361999988555908, 0.486299991607666, -0.14959999918937683, 0 ]
3.233333
97
0
97
0
[ 0.382099986076355, 0.014700000174343586, 0.15199999511241913, -2.8152999877929688, -0.718999981880188, 2.428299903869629, 0.7789000272750854, 0.03999999910593033, 0.03999999910593033 ]
[ 0.3009999990463257, 0.12370000034570694, 1.1720999479293823, 0.20479999482631683, 0.8361999988555908, 0.486299991607666, -0.14959999918937683, 0 ]
3.266667
98
0
98
0
[ 0.3862000107765198, 0.01549999974668026, 0.14640000462532043, -2.815500020980835, -0.7200000286102295, 2.428999900817871, 0.7795000076293945, 0.03999999910593033, 0.03999999910593033 ]
[ 0.3009999990463257, 0.12370000034570694, 1.1720999479293823, 0.20479999482631683, 0.8361999988555908, 0.486299991607666, -0.14959999918937683, 0 ]
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": "franka",
    "total_episodes": 519,
    "total_frames": 104925,
    "fps": 30,
    "splits": {
        "train": "0:519"
    },
    "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": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "gripper_left",
                "gripper_right"
            ],
            "fps": 30
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
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                480
            ],
            "video_info": {
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                "video.height": 480,
                "video.width": 480,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "has_audio": false
            },
            "names": [
                "channels",
                "height",
                "width"
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
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                480,
                480
            ],
            "video_info": {
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                "video.height": 480,
                "video.width": 480,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "has_audio": false
            },
            "names": [
                "channels",
                "height",
                "width"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "pos_x",
                "pos_y",
                "pos_z",
                "quat_w",
                "quat_x",
                "quat_y",
                "quat_z",
                "gripper"
            ],
            "fps": 30
        },
        "timestamp": {
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            "names": null,
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        "frame_index": {
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            "names": null,
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        },
        "episode_index": {
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        },
        "index": {
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        },
        "task_index": {
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            "names": null,
            "fps": 30
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200
}

Citation

BibTeX:

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