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float32
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14.1
frame_index
int64
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422
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int64
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2.09k
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2.8
84
0
84
0
[ -0.1545628309249878, 0.3808187246322632, -0.07041147351264954, -2.3858349323272705, 0.0650329515337944, 2.76399827003479, 0.5051575899124146, 0.00588187575340271 ]
[ -0.15571613609790802, 0.37420016527175903, -0.07173589617013931, -2.3840880393981934, 0.06418567895889282, 2.755927562713623, 0.503800630569458, 0.039699241518974304 ]
2.833333
85
0
85
0
[ -0.15481936931610107, 0.38061511516571045, -0.0705009400844574, -2.3835489749908447, 0.06487062573432922, 2.760801076889038, 0.5052644610404968, 0.004968404769897461 ]
[ -0.1545628309249878, 0.3808187246322632, -0.07041147351264954, -2.3858349323272705, 0.0650329515337944, 2.76399827003479, 0.5051575899124146, 0.03976472467184067 ]
2.866667
86
0
86
0
[ -0.15714594721794128, 0.3816820979118347, -0.07076671719551086, -2.3857362270355225, 0.06572228670120239, 2.7648396492004395, 0.5019221901893616, 0.008199036121368408 ]
[ -0.15481936931610107, 0.38061511516571045, -0.0705009400844574, -2.3835489749908447, 0.06487062573432922, 2.760801076889038, 0.5052644610404968, 0.03980126231908798 ]
2.9
87
0
87
0
[ -0.15597210824489594, 0.38628602027893066, -0.06946004182100296, -2.3906354904174805, 0.06650064885616302, 2.774502754211426, 0.5031416416168213, 0.004865884780883789 ]
[ -0.15714594721794128, 0.3816820979118347, -0.07076671719551086, -2.3857362270355225, 0.06572228670120239, 2.7648396492004395, 0.5019221901893616, 0.039672039449214935 ]
2.933333
88
0
88
0
[ -0.15669426321983337, 0.38494759798049927, -0.06967964768409729, -2.3923864364624023, 0.066581130027771, 2.7748336791992188, 0.5023552179336548, 0.0051500797271728516 ]
[ -0.15597210824489594, 0.38628602027893066, -0.06946004182100296, -2.3906354904174805, 0.06650064885616302, 2.774502754211426, 0.5031416416168213, 0.03980536386370659 ]
2.966667
89
0
89
0
[ -0.15655189752578735, 0.38630223274230957, -0.0700150579214096, -2.385498285293579, 0.06616051495075226, 2.7688794136047363, 0.5022608041763306, 0.0052994489669799805 ]
[ -0.15669426321983337, 0.38494759798049927, -0.06967964768409729, -2.3923864364624023, 0.066581130027771, 2.7748336791992188, 0.5023552179336548, 0.03979399800300598 ]
3
90
0
90
0
[ -0.1583099514245987, 0.3872472941875458, -0.07001550495624542, -2.3866679668426514, 0.06706484407186508, 2.772014856338501, 0.49993157386779785, 0.005511373281478882 ]
[ -0.15655189752578735, 0.38630223274230957, -0.0700150579214096, -2.385498285293579, 0.06616051495075226, 2.7688794136047363, 0.5022608041763306, 0.03978802263736725 ]
3.033333
91
0
91
0
[ -0.15992042422294617, 0.38643601536750793, -0.06967449933290482, -2.395017147064209, 0.06784484535455704, 2.7791178226470947, 0.4980664849281311, 0.003798574209213257 ]
[ -0.1583099514245987, 0.3872472941875458, -0.07001550495624542, -2.3866679668426514, 0.06706484407186508, 2.772014856338501, 0.49993157386779785, 0.03977954387664795 ]
3.066667
92
0
92
0
[ -0.15917044878005981, 0.3896782398223877, -0.06952572613954544, -2.3920319080352783, 0.06783992052078247, 2.779522657394409, 0.4989122152328491, 0.00146406888961792 ]
[ -0.15992042422294617, 0.38643601536750793, -0.06967449933290482, -2.395017147064209, 0.06784484535455704, 2.7791178226470947, 0.4980664849281311, 0.03984805569052696 ]
3.1
93
0
93
0
[ -0.16108471155166626, 0.3868432343006134, -0.06950542330741882, -2.399230718612671, 0.06869266927242279, 2.785032272338867, 0.4958033561706543, 0.0028652548789978027 ]
[ -0.15917044878005981, 0.3896782398223877, -0.06952572613954544, -2.3920319080352783, 0.06783992052078247, 2.779522657394409, 0.4989122152328491, 0.03994143754243851 ]
3.133333
94
0
94
0
[ -0.16071130335330963, 0.3854404389858246, -0.0699678286910057, -2.39605450630188, 0.06808625906705856, 2.7792177200317383, 0.49644583463668823, 0.0017493963241577148 ]
[ -0.16108471155166626, 0.3868432343006134, -0.06950542330741882, -2.399230718612671, 0.06869266927242279, 2.785032272338867, 0.4958033561706543, 0.03988539054989815 ]
3.166667
95
0
95
0
[ -0.16398459672927856, 0.38528454303741455, -0.06988628208637238, -2.403496026992798, 0.06939384341239929, 2.786672830581665, 0.4920010566711426, -0.0007468163967132568 ]
[ -0.16071130335330963, 0.3854404389858246, -0.0699678286910057, -2.39605450630188, 0.06808625906705856, 2.7792177200317383, 0.49644583463668823, 0.03993002325296402 ]
3.2
96
0
96
0
[ -0.16178357601165771, 0.3878428041934967, -0.06935767829418182, -2.3997914791107178, 0.06896290183067322, 2.7857396602630615, 0.4950382113456726, -0.00015977025032043457 ]
[ -0.16398459672927856, 0.38528454303741455, -0.06988628208637238, -2.403496026992798, 0.06939384341239929, 2.786672830581665, 0.4920010566711426, 0.040029872208833694 ]
3.233333
97
0
97
0
[ -0.16735482215881348, 0.38553404808044434, -0.06957323849201202, -2.408851385116577, 0.07048726081848145, 2.791667938232422, 0.4892939329147339, -0.00638851523399353 ]
[ -0.16178357601165771, 0.3878428041934967, -0.06935767829418182, -2.3997914791107178, 0.06896290183067322, 2.7857396602630615, 0.4950382113456726, 0.04000639170408249 ]
3.266667
98
0
98
0
[ -0.1656104177236557, 0.3842567205429077, -0.06909443438053131, -2.4120354652404785, 0.06982851028442383, 2.7936007976531982, 0.49214643239974976, -0.006718188524246216 ]
[ -0.16735482215881348, 0.38553404808044434, -0.06957323849201202, -2.408851385116577, 0.07048726081848145, 2.791667938232422, 0.4892939329147339, 0.04025553911924362 ]
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": "ros2",
    "total_episodes": 8,
    "total_frames": 2092,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:8"
    },
    "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": [
                "panda_joint1.pos",
                "panda_joint2.pos",
                "panda_joint3.pos",
                "panda_joint4.pos",
                "panda_joint5.pos",
                "panda_joint6.pos",
                "panda_joint7.pos",
                "gripper.pos"
            ],
            "shape": [
                8
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "panda_joint1.pos",
                "panda_joint2.pos",
                "panda_joint3.pos",
                "panda_joint4.pos",
                "panda_joint5.pos",
                "panda_joint6.pos",
                "panda_joint7.pos",
                "panda_finger_joint1.pos"
            ],
            "shape": [
                8
            ]
        },
        "observation.images.camera_1": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "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
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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