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timestamp
float32
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14.9
frame_index
int64
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224
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int64
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19
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3.94k
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5.933333
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6
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6.066667
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6.133333
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6.266667
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6.333333
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6.4
96
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6.466667
97
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6.533333
98
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6.6
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": null,
    "total_episodes": 20,
    "total_frames": 3939,
    "total_tasks": 1,
    "total_videos": 80,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:20"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
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            "shape": [
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            "names": [
                "joint_1",
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                "joint_4",
                "joint_5",
                "joint_6",
                "joint_7",
                "gripper"
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        "observation.state": {
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            "names": [
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "joint_7",
                "gripper"
            ]
        },
        "observation.right_eef_pose": {
            "dtype": "float32",
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            "names": [
                "rot_6d_0",
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                "rot_6d_4",
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                "trans_0",
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                "gripper_articulation"
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        },
        "action.right_eef_pose": {
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            "names": [
                "rot_6d_0",
                "rot_6d_1",
                "rot_6d_2",
                "rot_6d_3",
                "rot_6d_4",
                "rot_6d_5",
                "trans_0",
                "trans_1",
                "trans_2",
                "gripper_articulation"
            ]
        },
        "observation.images.cam_azure_kinect_left.transformed_depth": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
                "height",
                "width",
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            "info": "Transformed depth image aligned to color"
        },
        "observation.images.cam_azure_kinect_left.color": {
            "dtype": "video",
            "shape": [
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                1280,
                3
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            "names": [
                "height",
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            "info": "Raw color image"
        },
        "observation.images.cam_azure_kinect_front.color": {
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            "info": "Raw color image"
        },
        "observation.images.cam_wrist": {
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            "names": [
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            "info": "RGB color image"
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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