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223
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[ 51.89929962158203, 1.4316295385360718, -6.087157249450684, 101.55826568603516, 5.60630464553833, -9.49683952331543, -67.96414947509766, -49.16718292236328 ]
2.933333
88
0
88
0
[ 51.446510314941406, 7.081681251525879, -11.779973983764648, 99.10404205322266, 10.097289085388184, -15.531848907470703, -70.71946716308594, -49.16718292236328 ]
[ 51.877445220947266, 2.10919451713562, -7.092576503753662, 101.55826568603516, 6.393154621124268, -10.392974853515625, -68.55429077148438, -49.16718292236328 ]
2.966667
89
0
89
0
[ 51.32306671142578, 7.596778869628906, -12.71028995513916, 98.9404296875, 10.8731689453125, -16.51412010192871, -71.36215209960938, -49.16718292236328 ]
[ 51.877445220947266, 2.72118878364563, -8.032424926757812, 101.47084045410156, 7.092576503753662, -11.201681137084961, -69.12256622314453, -49.16718292236328 ]
3
90
0
90
0
[ 51.19962692260742, 8.111876487731934, -13.640605926513672, 98.77681732177734, 11.649049758911133, -17.49639129638672, -72.00483703613281, -49.16718292236328 ]
[ 51.877445220947266, 3.3331832885742188, -9.015987396240234, 101.3396987915039, 7.8138556480407715, -12.163386344909668, -69.69084930419922, -49.16718292236328 ]
3.033333
91
0
91
0
[ 51.0761833190918, 8.626973152160645, -14.570921897888184, 98.61319732666016, 12.42492961883545, -18.478662490844727, -72.64752197265625, -49.16718292236328 ]
[ 51.877445220947266, 4.05446195602417, -10.04326343536377, 101.16484069824219, 8.688133239746094, -13.234376907348633, -70.4121322631836, -49.16718292236328 ]
3.066667
92
0
92
0
[ 50.95273971557617, 9.142070770263672, -15.501237869262695, 98.4495849609375, 13.200809478759766, -19.460933685302734, -73.29020690917969, -49.16718292236328 ]
[ 51.877445220947266, 4.710170269012451, -10.87382698059082, 100.9244155883789, 9.387555122375488, -14.15236759185791, -71.04598236083984, -49.16718292236328 ]
3.1
93
0
93
0
[ 50.82929992675781, 9.6571683883667, -16.43155288696289, 98.28597259521484, 13.976690292358398, -20.443206787109375, -73.93289184570312, -49.16718292236328 ]
[ 51.855587005615234, 5.344021320343018, -11.901103019714355, 100.64027404785156, 10.283689498901367, -15.288928985595703, -71.6798324584961, -49.16718292236328 ]
3.133333
94
0
94
0
[ 50.70585632324219, 10.172266006469727, -17.36186981201172, 98.12235260009766, 14.752570152282715, -21.425477981567383, -74.57556915283203, -49.16718292236328 ]
[ 51.855587005615234, 6.04344367980957, -12.81909465789795, 100.35613250732422, 10.961255073547363, -16.228776931762695, -72.29182434082031, -49.16718292236328 ]
3.166667
95
0
95
0
[ 50.58241271972656, 10.687362670898438, -18.292184829711914, 97.958740234375, 15.528450965881348, -22.40774917602539, -75.21825408935547, -49.16718292236328 ]
[ 51.72444534301758, 6.65543794631958, -13.671515464782715, 100.13756561279297, 11.638819694519043, -17.10305404663086, -72.7945327758789, -49.16718292236328 ]
3.2
96
0
96
0
[ 50.4589729309082, 11.202460289001465, -19.222501754760742, 97.79512786865234, 16.304330825805664, -23.3900203704834, -75.8609390258789, -49.16718292236328 ]
[ 51.549591064453125, 7.15814733505249, -14.589507102966309, 99.94084930419922, 12.447526931762695, -18.17404556274414, -73.47209930419922, -49.16718292236328 ]
3.233333
97
0
97
0
[ 50.33552932739258, 11.717557907104492, -20.152816772460938, 97.63150787353516, 17.080211639404297, -24.372291564941406, -76.50362396240234, -49.16718292236328 ]
[ 51.24359130859375, 7.835712432861328, -15.485641479492188, 99.72228240966797, 13.234376907348633, -19.0920352935791, -74.17152404785156, -49.16718292236328 ]
3.266667
98
0
98
0
[ 50.21208572387695, 12.23265552520752, -21.083133697509766, 97.4678955078125, 17.856090545654297, -25.354562759399414, -77.14630889892578, -49.16718292236328 ]
[ 50.93759536743164, 8.403992652893066, -16.338062286376953, 99.50371551513672, 14.043083190917969, -19.988170623779297, -74.69609069824219, -49.16718292236328 ]
3.3
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": "openarm_follower",
    "total_episodes": 7,
    "total_frames": 23850,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:7"
    },
    "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": [
                8
            ],
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "joint_7.pos",
                "gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "joint_7.pos",
                "gripper.pos"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "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",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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