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observation.images.image
imagewidth (px)
256
256
observation.images.wrist_image
imagewidth (px)
256
256
observation.state
list
observation.state.joint
list
action
list
timestamp
float32
0
11.2
frame_index
int64
0
223
episode_index
int64
0
49
index
int64
0
7.98k
task_index
int64
0
0
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2.55
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2.7
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2.85
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2.9
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2.95
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3
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3.05
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3.1
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3.15
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3.2
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3.25
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3.3
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3.35
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3.4
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3.45
69
0
69
0
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[ 0.02142857201397419, 0, 0.9375, 0, 0.046071428805589676, -0.055714286863803864, 1 ]
3.5
70
0
70
0
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[ 0.008035714738070965, 0.0053571430034935474, 0.9375, 0, 0.03750000149011612, -0.04928571358323097, 1 ]
3.55
71
0
71
0
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[ 0, 0.008035714738070965, 0.9375, 0, 0.03750000149011612, -0.04500000178813934, 1 ]
3.6
72
0
72
0
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[ 0, 0.03482142835855484, 0.9375, 0, 0.03750000149011612, -0.03642857074737549, 1 ]
3.65
73
0
73
0
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[ 0, 0.04285714402794838, 0.9375, 0, 0.03214285895228386, -0.029999999329447746, 1 ]
3.7
74
0
74
0
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[ 0, 0.06160714104771614, 0.9053571224212646, 0, 0.019285714253783226, -0.025714285671710968, 1 ]
3.75
75
0
75
0
[ -0.11715398728847504, -0.25201040506362915, 0.1603427678346634, 3.099989414215088, -0.3146210014820099, -0.3475108742713928, 0.01940210349857807, -0.027633512392640114 ]
[ -0.16379304230213165, 0.34474045038223267, -0.30640101432800293, -2.073042631149292, 0.022157708182930946, 2.1966633796691895, 0.5095930695533752 ]
[ 0, 0.11249999701976776, 0.8330357074737549, 0, 0.012857142835855484, -0.011785713955760002, 1 ]
3.8
76
0
76
0
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[ 0.06160714104771614, 0.23035714030265808, 0.731249988079071, 0, 0, 0, 1 ]
3.85
77
0
77
0
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[ -0.1566261500120163, 0.3026828169822693, -0.30842557549476624, -2.0672075748443604, 0.007770506665110588, 2.1472744941711426, 0.525092601776123 ]
[ 0.08303571492433548, 0.2705357074737549, 0.6642857193946838, 0, 0, 0, 1 ]
3.9
78
0
78
0
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[ 0.12589286267757416, 0.31607142090797424, 0.5544642806053162, 0, 0, 0, 1 ]
3.95
79
0
79
0
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[ 0.20892857015132904, 0.36964285373687744, 0.4151785671710968, 0, 0, 0, 1 ]
4
80
0
80
0
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[ 0.23571428656578064, 0.4151785671710968, 0.3348214328289032, 0, 0, 0, 1 ]
4.05
81
0
81
0
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4.1
82
0
82
0
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[ 0.2785714268684387, 0.5892857313156128, 0.20624999701976776, 0, -0.012857142835855484, 0, 1 ]
4.15
83
0
83
0
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[ 0.27589285373687744, 0.6696428656578064, 0.19285714626312256, 0, -0.014999999664723873, 0, 1 ]
4.2
84
0
84
0
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[ 0.28660714626312256, 0.7232142686843872, 0.18482142686843872, 0, -0.02250000089406967, 0, 1 ]
4.25
85
0
85
0
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[ 0.3107142746448517, 0.7767857313156128, 0.1741071492433548, 0, -0.02678571455180645, 0, 1 ]
4.3
86
0
86
0
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4.35
87
0
87
0
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4.4
88
0
88
0
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4.45
89
0
89
0
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4.5
90
0
90
0
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[ 0.24375000596046448, 0.7875000238418579, 0.15535713732242584, 0, -0.02678571455180645, 0, 1 ]
4.55
91
0
91
0
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[ 0.24375000596046448, 0.7875000238418579, 0.15535713732242584, 0, -0.02678571455180645, 0, 1 ]
4.6
92
0
92
0
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4.65
93
0
93
0
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4.7
94
0
94
0
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4.75
95
0
95
0
[ -0.06449560821056366, -0.09953080117702484, 0.2444547563791275, 3.1139278411865234, -0.31137365102767944, -0.28462454676628113, 0.01953250914812088, -0.027071228250861168 ]
[ -0.05814974755048752, 0.18773239850997925, -0.12661300599575043, -2.0375518798828125, 0.01012915838509798, 2.0429511070251465, 0.7950928807258606 ]
[ 0.22499999403953552, 0.7928571701049805, 0.13124999403953552, 0, -0.03642857074737549, 0, 1 ]
4.8
96
0
96
0
[ -0.06169646605849266, -0.08905869722366333, 0.2462332844734192, 3.1150734424591064, -0.3110661804676056, -0.27717292308807373, 0.019547253847122192, -0.02705180086195469 ]
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4.85
97
0
97
0
[ -0.05894651263952255, -0.07858797162771225, 0.24789951741695404, 3.1162893772125244, -0.3107765018939972, -0.2692618668079376, 0.019561810418963432, -0.0270327627658844 ]
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[ 0.22232143580913544, 0.7928571701049805, 0.11249999701976776, 0, -0.04392857104539871, 0, 1 ]
4.9
98
0
98
0
[ -0.05618862435221672, -0.06812017410993576, 0.2494562715291977, 3.117619752883911, -0.31049853563308716, -0.26057901978492737, 0.01957623101770878, -0.027014054358005524 ]
[ -0.04115854948759079, 0.18193504214286804, -0.08630825579166412, -2.0325710773468018, 0.014880374073982239, 2.0478222370147705, 0.8491469621658325 ]
[ 0.21964286267757416, 0.7955357432365417, 0.1071428582072258, 0, -0.04714285582304001, 0, 1 ]
4.95
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": null,
    "total_episodes": 50,
    "total_frames": 7982,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:50"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": null,
    "features": {
        "observation.images.image": {
            "dtype": "image",
            "shape": [
                256,
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                3
            ],
            "names": [
                "height",
                "width",
                "channel"
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        },
        "observation.images.wrist_image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
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        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": {
                "motors": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw",
                    "gripper",
                    "gripper"
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            }
        },
        "observation.state.joint": {
            "dtype": "float32",
            "shape": [
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            "names": {
                "motors": [
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6",
                    "joint_7"
                ]
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        },
        "action": {
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            "shape": [
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            "names": {
                "motors": [
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                    "y",
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                    "roll",
                    "pitch",
                    "yaw",
                    "gripper"
                ]
            }
        },
        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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            "names": null
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        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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