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float32
0
32.8
frame_index
int64
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655
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int64
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99
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int64
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27k
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int64
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2.55
51
0
51
0
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2.6
52
0
52
0
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2.65
53
0
53
0
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2.7
54
0
54
0
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[ -0.015692446380853653, 1.1248434782028198, -0.043388403952121735, -1.081121563911438, 0.026594972237944603, 2.266773223876953, 0.5620330572128296, 1 ]
2.75
55
0
55
0
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2.8
56
0
56
0
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2.85
57
0
57
0
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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
72
0
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3.65
73
0
73
0
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3.7
74
0
74
0
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3.75
75
0
75
0
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3.8
76
0
76
0
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3.85
77
0
77
0
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3.9
78
0
78
0
[ -0.03555900603532791, 0, 0, 0, 0.04036170244216919, 0, 0.9991851449012756, 0, 0, 0 ]
[ -0.09702230244874954, 1.0379242897033691, 0.025287842378020287, -0.9427053928375244, 0.035876065492630005, 2.1377315521240234, 0.5021798610687256, 1 ]
3.95
79
0
79
0
[ -0.039751552045345306, 0, 0, 0, 0.01863246224820614, 0, 0.9998263716697693, 0, 0, 0 ]
[ -0.09742138534784317, 1.0253279209136963, 0.02457132190465927, -0.9544821381568909, 0.03588714450597763, 2.12705659866333, 0.5021580457687378, 1 ]
4
80
0
80
0
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[ -0.0982912927865982, 1.0098176002502441, 0.02379344217479229, -0.9731831550598145, 0.03589388728141785, 2.1121509075164795, 0.5021365880966187, 1 ]
4.05
81
0
81
0
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4.1
82
0
82
0
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4.15
83
0
83
0
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4.2
84
0
84
0
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4.25
85
0
85
0
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4.3
86
0
86
0
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4.35
87
0
87
0
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4.4
88
0
88
0
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4.45
89
0
89
0
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4.5
90
0
90
0
[ -0.05000000074505806, 0.002018633531406522, 0, -0.006211140193045139, 0, 0, 0.9999806880950928, 0, 0, 0 ]
[ -0.09982439875602722, 0.7691774964332581, 0.010385236702859402, -1.357936978340149, 0.03584325686097145, 2.096886157989502, 0.5021122097969055, 1 ]
4.55
91
0
91
0
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4.6
92
0
92
0
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4.65
93
0
93
0
[ -0.05000000074505806, 0.0021739129442721605, 0, -0.010091608390212059, -0.02872226946055889, 0, 0.9995365142822266, 0, 0, 0 ]
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4.7
94
0
94
0
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4.75
95
0
95
0
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4.8
96
0
96
0
[ -0.05000000074505806, 0, 0, -0.00931595265865326, -0.020960893481969833, 0, 0.9997369050979614, 0, 0, 0 ]
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4.85
97
0
97
0
[ -0.05000000074505806, 0, 0, -0.006987514439970255, -0.0023291714023798704, 0, 0.9999728798866272, 0, 0, 0 ]
[ -0.09833164513111115, 0.5677231550216675, 0.003424891037866473, -1.6822948455810547, 0.03572627902030945, 2.1260221004486084, 0.5021008849143982, 1 ]
4.9
98
0
98
0
[ -0.04627329111099243, 0, 0, 0, 0, 0, 1, 0, 0, 0 ]
[ -0.0983029156923294, 0.5401315689086914, 0.0021206331439316273, -1.7269748449325562, 0.035689882934093475, 2.1308717727661133, 0.502110481262207, 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": 100,
    "total_frames": 26975,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:100"
    },
    "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": [
                8
            ]
        },
        "observation.images.cam_1": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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}

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