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exterior_image_1_left
image
wrist_image_left
image
joint_position
list
gripper_position
float32
actions
list
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ 0.4203993082046509, 0.6227067112922668, 0.009170266799628735, -1.9960694313049316, -0.25138598680496216, 2.5737226009368896, 0.7072528600692749 ]
0.255507
[ 0.0877128466963768, 0.1569906771183014, -0.08586308360099792, 0.10043598711490631, 0.11547224223613739, 0.09568262100219727, 0.08471666276454926, 0.5759912133216858 ]
6.2
93
0
93
0
[ 0.42040085792541504, 0.6226423382759094, 0.007996533066034317, -1.9952714443206787, -0.24978414177894592, 2.576373815536499, 0.7072975039482117 ]
0.325991
[ 0.0874345451593399, 0.15829527378082275, -0.0860321968793869, 0.09627948701381683, 0.11471771448850632, 0.09325753152370453, 0.08337008953094482, 0.642070472240448 ]
6.266667
94
0
94
0
[ 0.4207972288131714, 0.6226142048835754, 0.008045756258070469, -1.9931994676589966, -0.24719466269016266, 2.578806161880493, 0.7073143720626831 ]
0.392071
[ 0.08392498642206192, 0.15973545610904694, -0.08631640672683716, 0.09168773889541626, 0.11337366700172424, 0.09194755554199219, 0.07972650974988937, 0.7301762104034424 ]
6.333333
95
0
95
0
[ 0.4211483597755432, 0.622647762298584, 0.008014898747205734, -1.9908825159072876, -0.2452421486377716, 2.5794339179992676, 0.7073270678520203 ]
0.480176
[ 0.0839320719242096, 0.1612406075000763, -0.09021833539009094, 0.08847266435623169, 0.10847054421901703, 0.0904189720749855, 0.0798477903008461, 0.8006607890129089 ]
6.4
96
0
96
0
[ 0.42113038897514343, 0.6226664781570435, 0.007714486680924892, -1.9893772602081299, -0.24433837831020355, 2.5795798301696777, 0.7073604464530945 ]
0.550661
[ 0.08248002082109451, 0.16226184368133545, -0.09024626761674881, 0.0869753286242485, 0.10691118240356445, 0.09123741090297699, 0.07793588191270828, 0.8711453676223755 ]
6.466667
97
0
97
0
[ 0.4211239814758301, 0.6226729154586792, 0.0071614752523601055, -1.9885421991348267, -0.24399082362651825, 2.5797505378723145, 0.707409679889679 ]
0.634361
[ 0.08192896097898483, 0.16216398775577545, -0.09086675941944122, 0.08675685524940491, 0.10419061779975891, 0.09015738219022751, 0.07671736925840378, 0.950440526008606 ]
6.533333
98
0
98
0
[ 0.4211050570011139, 0.6226860284805298, 0.006317174062132835, -1.988290786743164, -0.24388301372528076, 2.5798447132110596, 0.7074338793754578 ]
0.700441
[ 0.080234594643116, 0.1623532772064209, -0.08971123397350311, 0.08780985325574875, 0.10364004969596863, 0.0870782807469368, 0.07444218546152115, 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": 20,
    "total_frames": 6010,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:20"
    },
    "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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