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float32
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166
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int64
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4.98k
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151
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88
0
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2.966667
89
0
89
0
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3
90
0
90
0
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[ 0.8332901000976562, 0.336508572101593, 0.04749685525894165, -2.0274600982666016, 0.013632114976644516, 2.282386541366577, 1.6204239130020142, 0.837937593460083, 1, 0.37545087933540344, 0.454376757144928, 0.2746928334236145, 2.8575997352600098, -1.126451015472412, -0.07684116810560226 ]
3.033333
91
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91
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3.066667
92
0
92
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3.1
93
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3.133333
94
0
94
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3.166667
95
0
95
0
[ 0, -0.002149068284779787, 0.0009192546713165939, 0, 0, 0, 1 ]
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3.2
96
0
96
0
[ 0, -0.0024347826838493347, 0.00115527946036309, 0, 0, 0, 1 ]
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3.233333
97
0
97
0
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3.266667
98
0
98
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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": 152,
    "total_frames": 300990,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:152"
    },
    "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": [
                "delta_ee_pose.x",
                "delta_ee_pose.y",
                "delta_ee_pose.z",
                "delta_ee_pose.rx",
                "delta_ee_pose.ry",
                "delta_ee_pose.rz",
                "gripper_cmd_bin"
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        },
        "observation.state": {
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            "names": [
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                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "joint_7.pos",
                "gripper_state_norm",
                "gripper_cmd_bin",
                "ee_pose.x",
                "ee_pose.y",
                "ee_pose.z",
                "ee_pose.rx",
                "ee_pose.ry",
                "ee_pose.rz"
            ],
            "shape": [
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        },
        "observation.images.camera_1": {
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            "shape": [
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            "names": [
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        "observation.images.camera_2": {
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            "names": [
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                "channels"
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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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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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