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float32
0
13.1
frame_index
int64
0
261
episode_index
int64
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29
index
int64
0
6.56k
task_index
int64
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2.1
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
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2.5
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2.55
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2.6
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2.65
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2.7
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2.75
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2.8
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2.85
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2.9
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2.95
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3
60
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3.05
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3.1
62
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3.15
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3.2
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3.25
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3.3
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3.35
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3.4
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3.45
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3.5
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3.55
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3.6
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3.65
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3.7
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3.75
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3.8
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3.85
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3.9
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3.95
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4
80
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4.05
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4.1
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4.15
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4.2
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0
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[ -0.15592442452907562, 0.3291758596897125, -0.3701856732368469, -1.9875112771987915, 0.1810523122549057, 2.3516485691070557, -0.5753450989723206, 1 ]
4.25
85
0
85
0
[ -0.013378194533288479, 0.0381314791738987, -0.045951154083013535, 0.03015603870153427, 0.0045365202240645885, 0.016180936247110367, 0.9994039535522461, 0.8999999761581421, 0, 0 ]
[ -0.14907532930374146, 0.32666701078414917, -0.3699721395969391, -1.9974790811538696, 0.18134525418281555, 2.3560500144958496, -0.5806374549865723, 1 ]
4.3
86
0
86
0
[ -0.022295618429780006, 0.04124834015965462, -0.02818852849304676, 0.02548227831721306, -0.0022602577228099108, 0.00017892794858198613, 0.9996727108955383, 0.8999999761581421, 0, 0 ]
[ -0.14312314987182617, 0.3244853615760803, -0.36954647302627563, -2.009612560272217, 0.18402975797653198, 2.3624889850616455, -0.5866588354110718, 1 ]
4.35
87
0
87
0
[ -0.03829658776521683, 0.0329354852437973, -0.018483595922589302, 0.010992780327796936, 0.000770352256949991, 0.02747422084212303, 0.9995617866516113, 0.8999999761581421, 0, 0 ]
[ -0.13715237379074097, 0.3237007260322571, -0.36969614028930664, -2.0215401649475098, 0.1903262585401535, 2.3708341121673584, -0.593398928642273, 1 ]
4.4
88
0
88
0
[ -0.02836146019399166, 0.02041117660701275, -0.03570612519979477, 0.01600126177072525, 0.01700543239712715, 0.041401397436857224, 0.9988697171211243, 0.8999999761581421, 0, 0 ]
[ -0.13157859444618225, 0.3188331723213196, -0.3704163134098053, -2.038987636566162, 0.1946721225976944, 2.378990888595581, -0.5964033603668213, 1 ]
4.45
89
0
89
0
[ -0.058590468019247055, 0.014883952215313911, -0.031549032777547836, 0.002098087454214692, -0.0053920927457511425, -0.0018173796124756336, 0.9999815821647644, 0.8999999761581421, 0, 0 ]
[ -0.129116952419281, 0.31446245312690735, -0.37043997645378113, -2.052157163619995, 0.1951296627521515, 2.3846702575683594, -0.6012169122695923, 1 ]
4.5
90
0
90
0
[ -0.024102846160531044, -0.013988617807626724, -0.01903230883181095, -0.01659214496612549, 0.012501467950642109, 0.0000768482277635485, 0.9997841715812683, 0.8999999761581421, 0, 0 ]
[ -0.12797099351882935, 0.3113972544670105, -0.37049269676208496, -2.0658648014068604, 0.19782082736492157, 2.3911211490631104, -0.6119204759597778, 1 ]
4.55
91
0
91
0
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[ -0.12715831398963928, 0.30777814984321594, -0.37105298042297363, -2.0789644718170166, 0.19830965995788574, 2.400334596633911, -0.615443229675293, 1 ]
4.6
92
0
92
0
[ 0.0036576599813997746, 0.022128045558929443, -0.015385238453745842, 0.01427545491605997, -0.009529352188110352, 0.03228093311190605, 0.9993314743041992, 0.8999999761581421, 0, 0 ]
[ -0.12731175124645233, 0.30694714188575745, -0.37177586555480957, -2.0838263034820557, 0.19629162549972534, 2.403024911880493, -0.6156803369522095, 1 ]
4.65
93
0
93
0
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[ -0.1260802298784256, 0.30736708641052246, -0.37098753452301025, -2.084667682647705, 0.1940726786851883, 2.403992176055908, -0.6159824132919312, 1 ]
4.7
94
0
94
0
[ -0.005366633180528879, 0.01624257117509842, -0.02930048480629921, -0.004668610170483589, -0.01754804514348507, 0.005323635879904032, 0.9998209476470947, 0.8999999761581421, 0, 0 ]
[ -0.1248825415968895, 0.30757075548171997, -0.37008824944496155, -2.086916923522949, 0.1972576230764389, 2.4075334072113037, -0.6211117506027222, 1 ]
4.75
95
0
95
0
[ 0.003493509255349636, -0.006431570742279291, -0.043610092252492905, 0.0023274472914636135, 0.0022407553624361753, -0.024009833112359047, 0.999706506729126, 0.8999999761581421, 0, 0 ]
[ -0.12338757514953613, 0.3083663582801819, -0.37034597992897034, -2.09010648727417, 0.20147861540317535, 2.4141316413879395, -0.6250612139701843, 1 ]
4.8
96
0
96
0
[ 0.01117218378931284, 0.009256198070943356, -0.04123234376311302, -0.03095472790300846, 0.01718679815530777, 0.021020712330937386, 0.999151885509491, 0.8999999761581421, 0, 0 ]
[ -0.12126453220844269, 0.3099868893623352, -0.3705539107322693, -2.0967838764190674, 0.20553165674209595, 2.4254419803619385, -0.6273754835128784, 1 ]
4.85
97
0
97
0
[ 0.004918886348605156, -0.002786897122859955, -0.03361425921320915, 0.004521390423178673, 0.025926129892468452, 0.0010002277558669448, 0.999653160572052, 0.8999999761581421, 0, 0 ]
[ -0.12076018750667572, 0.31761446595191956, -0.37081339955329895, -2.096292734146118, 0.21017411351203918, 2.4316110610961914, -0.6278594732284546, 1 ]
4.9
98
0
98
0
[ 0.012705947272479534, 0.010432773269712925, -0.04615306854248047, -0.019249793142080307, 0.02844751626253128, 0.009902126155793667, 0.9993608593940735, 0.8999999761581421, 0, 0 ]
[ -0.11925898492336273, 0.3266998529434204, -0.3710976839065552, -2.094139337539673, 0.2108851671218872, 2.4356820583343506, -0.6278546452522278, 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": 30,
    "total_frames": 6557,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:30"
    },
    "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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                3
            ],
            "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": {
            "dtype": "video",
            "shape": [
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                3
            ],
            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "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_2_scene": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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