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float32
0
17
frame_index
int64
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339
episode_index
int64
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4
index
int64
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int64
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2.1
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0
42
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2.15
43
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43
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2.2
44
0
44
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2.25
45
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45
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2.3
46
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46
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2.35
47
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47
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2.4
48
0
48
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2.45
49
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0
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2.5
50
0
50
0
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2.55
51
0
51
0
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2.6
52
0
52
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2.65
53
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2.7
54
0
54
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2.75
55
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55
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2.8
56
0
56
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2.85
57
0
57
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2.9
58
0
58
0
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2.95
59
0
59
0
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3
60
0
60
0
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3.05
61
0
61
0
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3.1
62
0
62
0
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3.15
63
0
63
0
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3.2
64
0
64
0
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3.25
65
0
65
0
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3.3
66
0
66
0
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3.35
67
0
67
0
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3.4
68
0
68
0
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3.45
69
0
69
0
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3.5
70
0
70
0
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3.55
71
0
71
0
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3.6
72
0
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0
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3.65
73
0
73
0
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3.7
74
0
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0
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3.75
75
0
75
0
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3.8
76
0
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0
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3.85
77
0
77
0
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3.9
78
0
78
0
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3.95
79
0
79
0
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4
80
0
80
0
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4.05
81
0
81
0
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4.1
82
0
82
0
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4.15
83
0
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0
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4.2
84
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4.25
85
0
85
0
[ 0.011080465279519558, 0.008221257477998734, -0.006440331228077412, 0.0035901302471756935, 0.0007949313148856163, -0.0017722027841955423, 0.9999059438705444, 0.5342437028884888, 0, 0 ]
[ 0.12997384369373322, -0.5796986222267151, -0.5076154470443726, -2.0308635234832764, -0.051238253712654114, 1.7783418893814087, 0.4122190475463867, 1 ]
4.3
86
0
86
0
[ 0.012608209624886513, 0.009414580650627613, -0.006500802002847195, 0.0029913249891251326, 0.0009053186513483524, -0.0017499272944405675, 0.9999118447303772, 0.5284104347229004, 0, 0 ]
[ 0.13164333999156952, -0.5782608389854431, -0.5076808333396912, -2.031836748123169, -0.05079135298728943, 1.7807021141052246, 0.41405826807022095, 1 ]
4.35
87
0
87
0
[ 0.013011269271373749, 0.009738967753946781, -0.006106331013143063, 0.002856553765013814, 0.0009095799177885056, -0.0016396932769566774, 0.9999111890792847, 0.5286613702774048, 0, 0 ]
[ 0.13335876166820526, -0.5764881372451782, -0.5076242685317993, -2.0325896739959717, -0.050240565091371536, 1.7828140258789062, 0.41616323590278625, 1 ]
4.4
88
0
88
0
[ 0.012896818108856678, 0.009542147628962994, -0.006217055022716522, 0.002767393598333001, 0.0010609831660985947, -0.0015199636109173298, 0.9999126195907593, 0.5232823491096497, 0, 0 ]
[ 0.13527551293373108, -0.5745843052864075, -0.5076122283935547, -2.0333003997802734, -0.049704473465681076, 1.7850247621536255, 0.41886788606643677, 1 ]
4.45
89
0
89
0
[ 0.00975461769849062, 0.007012750953435898, -0.006591356359422207, 0.003948289435356855, 0.0008801305666565895, -0.001963798888027668, 0.9998958706855774, 0.5323091745376587, 0, 0 ]
[ 0.1372554451227188, -0.5726804733276367, -0.5075967311859131, -2.033991813659668, -0.04924611747264862, 1.7872533798217773, 0.4208456873893738, 1 ]
4.5
90
0
90
0
[ 0.011236220598220825, 0.008235483430325985, -0.006634925492107868, 0.0035603083670139313, 0.0009259656071662903, -0.0017072425689548254, 0.999902606010437, 0.5344691872596741, 0, 0 ]
[ 0.13912935554981232, -0.571104884147644, -0.507684051990509, -2.0348076820373535, -0.048774585127830505, 1.789040446281433, 0.4226020872592926, 1 ]
4.55
91
0
91
0
[ 0.012758930213749409, 0.009428571909666061, -0.006678186357021332, 0.002918063895776868, 0.0010102358646690845, -0.0016956180334091187, 0.9999092221260071, 0.5284384489059448, 0, 0 ]
[ 0.14088979363441467, -0.5697880983352661, -0.5077102184295654, -2.035841226577759, -0.0482172816991806, 1.790717601776123, 0.42431360483169556, 1 ]
4.6
92
0
92
0
[ 0.01315193623304367, 0.009739089757204056, -0.0062487563118338585, 0.002790855709463358, 0.0010073385201394558, -0.0015929125947877765, 0.9999086260795593, 0.5286749601364136, 0, 0 ]
[ 0.1427171379327774, -0.5682352781295776, -0.5076423287391663, -2.036517381668091, -0.047592587769031525, 1.792914867401123, 0.4258783757686615, 1 ]
4.65
93
0
93
0
[ 0.013061398640275002, 0.009571084752678871, -0.006322153843939304, 0.0026714582927525043, 0.0011729374527931213, -0.0014752927236258984, 0.9999104142189026, 0.5229438543319702, 0, 0 ]
[ 0.14471057057380676, -0.5664077997207642, -0.5076295137405396, -2.036893367767334, -0.047069061547517776, 1.7953102588653564, 0.42760032415390015, 1 ]
4.7
94
0
94
0
[ 0.009838929399847984, 0.006968455854803324, -0.00633687898516655, 0.00380420358851552, 0.0008900584653019905, -0.001818738877773285, 0.9998982548713684, 0.5317922234535217, 0, 0 ]
[ 0.14665721356868744, -0.5644457340240479, -0.507612407207489, -2.0372142791748047, -0.04651894420385361, 1.7978242635726929, 0.42965349555015564, 1 ]
4.75
95
0
95
0
[ 0.011341999284923077, 0.008178826421499252, -0.006354194134473801, 0.0034188954159617424, 0.0009356006048619747, -0.0015942968893796206, 0.9999048113822937, 0.5332804918289185, 0, 0 ]
[ 0.14862288534641266, -0.5624352693557739, -0.5076688528060913, -2.0375537872314453, -0.04601801559329033, 1.8005231618881226, 0.43184781074523926, 1 ]
4.8
96
0
96
0
[ 0.0128612807020545, 0.009377394802868366, -0.006415608339011669, 0.002796012442559004, 0.0010331552475690842, -0.0015809803735464811, 0.9999108910560608, 0.527218222618103, 0, 0 ]
[ 0.15042264759540558, -0.5607521533966064, -0.5077291131019592, -2.03813099861145, -0.04529693350195885, 1.8025411367416382, 0.43339645862579346, 1 ]
4.85
97
0
97
0
[ 0.013242233544588089, 0.00966985896229744, -0.006012504920363426, 0.0026659381110221148, 0.001040852628648281, -0.0014816633192822337, 0.9999104142189026, 0.5271004438400269, 0, 0 ]
[ 0.1522810012102127, -0.5589067935943604, -0.5076287388801575, -2.0386085510253906, -0.04457474127411842, 1.8046680688858032, 0.4353795349597931, 1 ]
4.9
98
0
98
0
[ 0.013178105466067791, 0.009539949707686901, -0.006093981675803661, 0.002532387152314186, 0.0012056375853717327, -0.001374629675410688, 0.9999118447303772, 0.5206280946731567, 0, 0 ]
[ 0.15425094962120056, -0.5570328831672668, -0.5075958371162415, -2.0389747619628906, -0.04380544647574425, 1.8070026636123657, 0.43804532289505005, 1 ]
4.95
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": "single_arm_franka",
    "total_episodes": 5,
    "total_frames": 591,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:5"
    },
    "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": [
                "r_x",
                "r_y",
                "r_z",
                "r_qx",
                "r_qy",
                "r_qz",
                "r_qw",
                "r_gripper",
                "kp",
                "kd"
            ],
            "shape": [
                10
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "r_joint_1",
                "r_joint_2",
                "r_joint_3",
                "r_joint_4",
                "r_joint_5",
                "r_joint_6",
                "r_joint_7",
                "r_gripper"
            ],
            "shape": [
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        },
        "observation.images.cam_3_wrist": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
                "height",
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                "channels"
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            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_4_wrist": {
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            "shape": [
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            ],
            "names": [
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                "channels"
            ],
            "info": {
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                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.cam_2_scene": {
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            "shape": [
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                3
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
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        },
        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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