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Datasets:
Faless
/
piper_full_3cam_teleop_v2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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Dask
Polars
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float32
0
35
frame_index
int64
0
876
episode_index
int64
0
57
index
int64
0
30.8k
task_index
int64
0
0
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[ -3.006011962890625, -18.708053588867188, 45.63913345336914, 1.421800971031189, -41.63457489013672, -3.701759099960327, 21.37651824951172 ]
[ -3.049333333969116, -20.828887939453125, 47.7400016784668, 1.3919999599456787, -41.674285888671875, -3.670555591583252, 21.100000381469727, -0.015774227678775787 ]
3.8
95
0
95
0
[ -3.006011962890625, -17.785234451293945, 44.7161979675293, 1.421800971031189, -41.63457489013672, -3.701759099960327, 21.37651824951172 ]
[ -3.049333333969116, -19.6744441986084, 46.64470672607422, 1.3919999599456787, -41.674285888671875, -3.670555591583252, 21.100000381469727, -0.014896804466843605 ]
3.84
96
0
96
0
[ -3.006011962890625, -16.862415313720703, 43.79326248168945, 1.421800971031189, -41.63457489013672, -3.701759099960327, 21.37651824951172 ]
[ -3.049333333969116, -18.60444450378418, 45.78588104248047, 1.3919999599456787, -41.674285888671875, -3.670555591583252, 21.100000381469727, -0.015807123854756355 ]
3.88
97
0
97
0
[ -3.006011962890625, -16.10738182067871, 42.96261978149414, 1.421800971031189, -41.63457489013672, -3.701759099960327, 21.37651824951172 ]
[ -3.049333333969116, -17.60444450378418, 44.750587463378906, 1.3919999599456787, -41.674285888671875, -3.670555591583252, 21.100000381469727, -0.015426412224769592 ]
3.92
98
0
98
0
[ -3.006011962890625, -15.520133972167969, 42.224273681640625, 1.421800971031189, -41.63457489013672, -3.701759099960327, 21.37651824951172 ]
[ -3.049333333969116, -16.80666732788086, 43.77882385253906, 1.3919999599456787, -41.538570404052734, -3.670555591583252, 21.100000381469727, -0.015383770689368248 ]
3.96
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": "piper_full",
    "total_episodes": 58,
    "total_frames": 30774,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 25,
    "splits": {
        "train": "0:58"
    },
    "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": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos",
                "gripper.tau"
            ],
            "shape": [
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            ]
        },
        "observation.images.camera1": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera2": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
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                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera3": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
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            "names": null
        },
        "frame_index": {
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        },
        "episode_index": {
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            "names": null
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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