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exterior_image_1_left
imagewidth (px)
320
320
wrist_image_left
imagewidth (px)
320
320
joint_position
list
gripper_position
float32
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0.99
actions
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23.4
frame_index
int64
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351
episode_index
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5.37k
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0.762115
[ 0.028061840683221817, 0.07634405791759491, -0.007391934283077717, 0.13169437646865845, -0.10935543477535248, -0.19080030918121338, 0.07671700417995453, 1 ]
6.133333
92
0
92
0
[ 0.35457172989845276, 0.49271947145462036, -0.048637066036462784, -2.2253172397613525, -0.06434975564479828, 2.6695683002471924, 0.44529569149017334 ]
0.762115
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6.2
93
0
93
0
[ 0.354570597410202, 0.49268242716789246, -0.04789595305919647, -2.2219090461730957, -0.06442338228225708, 2.660628080368042, 0.445212185382843 ]
0.762115
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6.266667
94
0
94
0
[ 0.3545772433280945, 0.4925823211669922, -0.047587018460035324, -2.217146396636963, -0.06453441828489304, 2.652179479598999, 0.4446489214897156 ]
0.762115
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6.333333
95
0
95
0
[ 0.3544979691505432, 0.4921993315219879, -0.04760662466287613, -2.2104032039642334, -0.06472764164209366, 2.6451897621154785, 0.4437989294528961 ]
0.762115
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6.4
96
0
96
0
[ 0.35435712337493896, 0.4909449815750122, -0.047605399042367935, -2.2025208473205566, -0.06486807763576508, 2.6370761394500732, 0.4425247013568878 ]
0.762115
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6.466667
97
0
97
0
[ 0.35422927141189575, 0.48859137296676636, -0.04789333418011665, -2.1930134296417236, -0.06591884791851044, 2.627460241317749, 0.44200003147125244 ]
0.762115
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6.533333
98
0
98
0
[ 0.3540033996105194, 0.4853965640068054, -0.04842914268374443, -2.182772159576416, -0.06777645647525787, 2.6177263259887695, 0.4418952465057373 ]
0.762115
[ -0.02256777323782444, -0.13231921195983887, -0.024529604241251945, 0.06940118968486786, -0.1755812168121338, -0.1899280548095703, 0.0563688762485981, 1 ]
6.6
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "fr3",
    "total_episodes": 21,
    "total_frames": 5369,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:21"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "exterior_image_1_left": {
            "dtype": "image",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "wrist_image_left": {
            "dtype": "image",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "joint_position": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint_position"
            ]
        },
        "gripper_position": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper_position"
            ]
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "actions"
            ]
        },
        "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
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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