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observation.state
sequence
observation.joint_velocities
sequence
action
sequence
observation.ee_pos_quat
sequence
observation.gripper_position
float64
-0
0.27
timestamp
float32
0
19.8
frame_index
int64
0
198
episode_index
int64
0
49
index
int64
0
7.77k
task_index
int64
0
0
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[ 0.08105984966078099, 0.026934296329433883, 0.05542168049731366, -0.042401158504079856, -0.019155454030609746, 0.00984653933957547, 0.009633324931349491 ]
[ 0.41415901272700795, -1.165809904068797, 1.504850492660947, -1.957344133247013, -1.4680196109385923, 0.11811636726911558, 1 ]
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0.247595
9.8
98
0
98
0
[ 0.3998286389455756, -1.149362590519187, 1.507654729217141, -1.9435918222449566, -1.465263524587192, 0.11648613971422107, 0.2479496508340332 ]
[ 0.07439638028126554, 0.015089014381875984, 0.03926233240944797, -0.0422001733812163, -0.015891557093515283, 0.008273714252014053, 0.009491996956633261 ]
[ 0.414174654729102, -1.168862525805858, 1.4987607423932383, -1.9573593318211273, -1.4695382549558857, 0.11811651913321357, 1 ]
[ -0.5312109631772302, -0.3991160139829287, 0.1604978941329428, 0.006451029635940827, -0.1413114732928519, 0.9885318481316109, -0.05286054258084382 ]
0.24795
9.9
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": null,
    "total_episodes": 50,
    "total_frames": 7767,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:50"
    },
    "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": {
        "observation.image.top_camera_img": {
            "dtype": "video",
            "shape": [
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                320
            ],
            "names": [
                "channel",
                "height",
                "width"
            ],
            "video_info": {
                "video.fps": 10.0,
                "video.is_depth_map": false
            },
            "info": {
                "video.fps": 10.0,
                "video.height": 240,
                "video.width": 320,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.image.side_camera_img": {
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            "video_info": {
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                "video.is_depth_map": false
            },
            "info": {
                "video.fps": 10.0,
                "video.height": 240,
                "video.width": 320,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
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        },
        "observation.state": {
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            "names": {
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                    "motor_5",
                    "motor_6",
                    "gripper_7"
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        },
        "observation.joint_velocities": {
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            "names": {
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        },
        "action": {
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            "names": {
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        "observation.ee_pos_quat": {
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            "names": {
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        },
        "observation.gripper_position": {
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            "names": null
        },
        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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