Datasets:
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action list | observation.state list | timestamp float32 0 19.9 | frame_index int64 0 597 | episode_index int64 0 19 | index int64 0 11.9k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"tcp.x",
"tcp.y",
"tcp.z",
"tcp.r1",
"tcp.r2",
"tcp.r3",
"tcp.r4",
"tcp.r5",
"tcp.r6",
"gripper.pos"
],
"shape": [
10
]
},
"observation.state": {
"dtype": "float32",
"names": [
"tcp.x",
"tcp.y",
"tcp.z",
"tcp.r1",
"tcp.r2",
"tcp.r3",
"tcp.r4",
"tcp.r5",
"tcp.r6",
"gripper.pos",
"joint_1.pos",
"joint_2.pos",
"joint_3.pos",
"joint_4.pos",
"joint_5.pos",
"joint_6.pos",
"joint_7.pos"
],
"shape": [
17
]
},
"observation.images.top": {
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"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
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},
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],
"info": {
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},
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},
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},
"total_episodes": 20,
"total_frames": 11926,
"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": "franka_franky",
"splits": {
"train": "0:20"
}
}
Citation
BibTeX:
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