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observation.state
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3
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[ 0.0000834375896374695, 0.02420346811413765, -0.01833692565560341, 0.0020154891535639763, 0.0001042176882037893, -0.010280978865921497, 0.9999918937683105 ]
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",
    "fps": 30,
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "ee.x",
                "ee.y",
                "ee.z",
                "ee.roll",
                "ee.pitch",
                "ee.yaw",
                "gripper.pos"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "delta.x",
                "delta.y",
                "delta.z",
                "delta.roll",
                "delta.pitch",
                "delta.yaw",
                "gripper.pos"
            ]
        },
        "observation.images.top": {
            "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,
                "video.preset": null,
                "video.video_backend": "pyav",
                "video.fast_decode": null,
                "video.crf": null,
                "video.g": null,
                "video.extra_options": null
            }
        },
        "observation.images.left_wrist": {
            "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,
                "video.preset": null,
                "video.video_backend": "pyav",
                "video.fast_decode": null,
                "video.crf": null,
                "video.g": null,
                "video.extra_options": null
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    },
    "total_episodes": 152,
    "total_frames": 61856,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "fr3_follower",
    "splits": {
        "train": "0:152"
    }
}

Citation

BibTeX:

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