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float32
0
69.6
frame_index
int64
0
696
episode_index
int64
0
101
index
int64
0
12.8k
task_index
int64
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0.1
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0.2
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0.3
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0.6
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1.1
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11
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1.2
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1.3
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1.4
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1.5
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1.6
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1.8
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1.9
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2
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2.1
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2.2
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2.3
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2.4
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2.5
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2.6
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2.7
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2.8
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2.9
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3
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3.1
31
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3.2
32
0
32
0
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3.3
33
0
33
0
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3.4
34
0
34
0
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3.5
35
0
35
0
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[ -0.04731285572052002, 0.9972540140151978, -0.05526852235198021, -0.013831447809934616, 0.2323378324508667, -0.35237830877304077, 0.23657597601413727 ]
3.6
36
0
36
0
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3.7
37
0
37
0
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3.8
38
0
38
0
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3.9
39
0
39
0
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4
40
0
40
0
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4.1
41
0
41
0
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4.2
42
0
42
0
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4.3
43
0
43
0
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4.4
44
0
44
0
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4.5
45
0
45
0
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4.6
46
0
46
0
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4.7
47
0
47
0
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4.8
48
0
48
0
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4.9
49
0
49
0
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5
50
0
50
0
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5.1
51
0
51
0
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5.2
52
0
52
0
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5.3
53
0
53
0
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5.4
54
0
54
0
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5.5
55
0
55
0
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5.6
56
0
56
0
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5.7
57
0
57
0
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5.8
58
0
58
0
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5.9
59
0
59
0
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6
60
0
60
0
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6.1
61
0
61
0
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6.2
62
0
62
0
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6.3
63
0
63
0
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6.4
64
0
64
0
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6.5
65
0
65
0
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6.6
66
0
66
0
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6.7
67
0
67
0
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6.8
68
0
68
0
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6.9
69
0
69
0
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7
70
0
70
0
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7.1
71
0
71
0
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7.2
72
0
72
0
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7.3
73
0
73
0
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7.4
74
0
74
0
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7.5
75
0
75
0
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7.6
76
0
76
0
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7.7
77
0
77
0
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7.8
78
0
78
0
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7.9
79
0
79
0
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8
80
0
80
0
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8.1
81
0
81
0
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8.2
82
0
82
0
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8.3
83
0
83
0
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8.4
84
0
84
0
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8.5
85
0
85
0
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8.6
86
0
86
0
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8.7
87
0
87
0
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8.8
88
0
88
0
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8.9
89
0
89
0
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9
90
0
90
0
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9.1
91
0
91
0
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9.2
92
0
92
0
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9.3
93
0
93
0
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9.4
94
0
94
0
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9.5
95
0
95
0
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9.6
96
0
96
0
[ -0.005288721527904272, -0.0010543337557464838, -0.003133490215986967, 0.00249888701364398, -0.012869525700807571, 0.012340345419943333, 0.539130449295044 ]
[ 0.7185771465301514, -1.6260687112808228, 1.8363016843795776, -1.9579583406448364, -1.53740394115448, -0.7185094952583313, 0.539130449295044 ]
[ 0.06506280601024628, 0.9938243627548218, -0.07422464340925217, -0.050701823085546494, -0.1339661031961441, -0.29534199833869934, 0.2749464213848114 ]
9.7
97
0
97
0
[ -0.0010437692981213331, -0.0018353837076574564, -0.0023130893241614103, -0.004945105407387018, -0.00994045753031969, 0.020975984632968903, 0.539130449295044 ]
[ 0.7063852548599243, -1.6082063913345337, 1.8280428647994995, -1.9538227319717407, -1.5272549390792847, -0.7425864338874817, 0.539130449295044 ]
[ 0.05888676643371582, 0.9946967959403992, -0.07218337804079056, -0.04359056428074837, -0.1391223669052124, -0.29625043272972107, 0.27181336283683777 ]
9.8
98
0
98
0
[ 0.0008560529677197337, -0.003247534390538931, -0.001354377600364387, -0.00900822039693594, -0.004886252339929342, 0.01675049029290676, 0.539130449295044 ]
[ 0.7050513029098511, -1.5983034372329712, 1.8275359869003296, -1.9589396715164185, -1.5139955282211304, -0.7628892064094543, 0.539130449295044 ]
[ 0.047948986291885376, 0.9952705502510071, -0.07553219050168991, -0.03784632310271263, -0.1399465948343277, -0.29827311635017395, 0.2693966329097748 ]
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": "v3.0",
    "robot_type": "ur_custom",
    "total_episodes": 102,
    "total_frames": 12819,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:102"
    },
    "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",
            "shape": [
                7
            ],
            "names": [
                "delta_x",
                "delta_y",
                "delta_z",
                "delta_rotvec_x",
                "delta_rotvec_y",
                "delta_rotvec_z",
                "gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6"
            ]
        },
        "extra.tcp_pose": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "qx",
                "qy",
                "qz",
                "qw",
                "x",
                "y",
                "z"
            ]
        },
        "observation.images.camera_0": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_1": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            ],
            "names": null
        },
        "index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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