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int64
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2
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2.1
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2.133333
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2.233333
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2.3
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2.4
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2.533333
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2.6
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2.633333
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2.666667
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2.7
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2.733333
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2.8
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2.833333
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2.866667
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2.9
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2.933333
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2.966667
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3
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3.033333
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3.066667
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3.1
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3.133333
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3.166667
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3.2
96
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96
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[ 0.8959391117095947, 0.01985306665301323, 0.9104382991790771, -1.50181245803833, 1.5706514120101929, -1.552493929862976, 0.6595480442047119 ]
[ 0.8460078239440918, 0.017701055854558945, 0.9442958831787109, -1.1147375106811523, 1.5706849098205566, -1.0943845510482788, 0.598183810710907 ]
3.233333
97
0
97
0
[ 0.8965667486190796, 0.02106386423110962, 0.9065401554107666, -1.5141732692718506, 1.5706430673599243, -1.542912244796753, 0.651573896408081 ]
[ 0.8460078239440918, 0.017701055854558945, 0.9442958831787109, -1.1147375106811523, 1.5706849098205566, -1.0943845510482788, 0.6035224795341492 ]
3.266667
98
0
98
0
[ 0.8938041925430298, 0.021239159628748894, 0.9051429033279419, -1.4948301315307617, 1.5706366300582886, -1.5517410039901733, 0.6510379314422607 ]
[ 0.8956931233406067, 0.019833102822303772, 0.8509993553161621, -1.0927178859710693, 1.57063889503479, -1.143021821975708, 0.6592558026313782 ]
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": "yaskawa_sim",
    "total_episodes": 2,
    "total_frames": 1324,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": [
                "x.pos",
                "y.pos",
                "z.pos",
                "rx.pos",
                "ry.pos",
                "rz.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "x.pos",
                "y.pos",
                "z.pos",
                "rx.pos",
                "ry.pos",
                "rz.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.images.front": {
            "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.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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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