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float32
0
42.6
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int64
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1.28k
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3
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90
0
[ 0.19129566848278046, 0.1852409690618515, -0.49985313415527344, -0.0003523589111864567, -0.00023033152683638036, -0.001563491765409708, -0.0009297728538513184 ]
[ -0.7725897431373596, -0.043561384081840515, 0.4009174406528473, -0.00010073968587676063, 0.9999962449073792, -0.0012159452307969332, -0.00245399447157979 ]
3.033333
91
0
91
0
[ 0.16232730448246002, 0.16950421035289764, -0.5189149975776672, -0.000029578382964245975, -0.00008188448555301875, 0.0009751413017511368, -0.0006196200847625732 ]
[ -0.7732541561126709, -0.04427126422524452, 0.39896222949028015, -0.00010375499550718814, 0.9999963641166687, -0.001246319618076086, -0.0023940070532262325 ]
3.066667
92
0
92
0
[ 0.1689595878124237, 0.17632131278514862, -0.4904271364212036, -0.00031177292112261057, -0.00016383585170842707, 0.0004105181433260441, 0.0036500096321105957 ]
[ -0.7737635970115662, -0.04496298357844353, 0.396951287984848, -0.00011637569696176797, 0.9999964833259583, -0.0012829055776819587, -0.0023062604013830423 ]
3.1
93
0
93
0
[ 0.1598949432373047, 0.17245584726333618, -0.5233297944068909, -0.00029302260372787714, -0.00006592023419216275, 0.0007983788382261992, -0.0002913475036621094 ]
[ -0.7744660973548889, -0.045760612934827805, 0.39481788873672485, -0.00012077671999577433, 0.9999964833259583, -0.001335721812210977, -0.0022793407551944256 ]
3.133333
94
0
94
0
[ 0.16141484677791595, 0.1684950888156891, -0.5236867666244507, 0.0002495817025192082, 0.00003377217217348516, 0.0003339475952088833, 0.0007731616497039795 ]
[ -0.7750147581100464, -0.046386100351810455, 0.3927408754825592, -0.00011153394007124007, 0.999996542930603, -0.001353710307739675, -0.0022538055200129747 ]
3.166667
95
0
95
0
[ 0.1646043062210083, 0.15593023598194122, -0.5001768469810486, -0.0002067017339868471, -0.0000764917058404535, -0.0024975109845399857, -0.0002442002296447754 ]
[ -0.7756407856941223, -0.04713030159473419, 0.39059358835220337, -0.00013001071056351066, 0.9999964237213135, -0.0013575592311099172, -0.0023017157800495625 ]
3.2
96
0
96
0
[ 0.17361454665660858, 0.14194545149803162, -0.4718524217605591, 0.00006139308970887214, -0.00026201416039839387, 0.0003094745334237814, -0.0010280609130859375 ]
[ -0.7762078046798706, -0.04772260785102844, 0.38867998123168945, -0.0001403465576004237, 0.9999963641166687, -0.001391692436300218, -0.002298429375514388 ]
3.233333
97
0
97
0
[ 0.19699758291244507, 0.15682855248451233, -0.43484193086624146, -0.0003423962334636599, -0.0001274970854865387, 0.0004477831535041332, 0.005650818347930908 ]
[ -0.7767873406410217, -0.04829531908035278, 0.3867684602737427, -0.00012876748223789036, 0.9999964237213135, -0.001425989787094295, -0.002259780652821064 ]
3.266667
98
0
98
0
[ 0.26325803995132446, 0.1471904069185257, -0.3056102395057678, -0.00029890917357988656, -0.00008380805957131088, -0.00017230911180377007, 0.004868119955062866 ]
[ -0.777524471282959, -0.049002520740032196, 0.3848591148853302, -0.00014722732885275036, 0.9999964237213135, -0.0014631871599704027, -0.0022299729753285646 ]
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": 6,
    "total_frames": 5380,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:6"
    },
    "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": [
                "linear_x.vel",
                "linear_y.vel",
                "linear_z.vel",
                "angular_x.vel",
                "angular_y.vel",
                "angular_z.vel",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "pose.x",
                "pose.y",
                "pose.z",
                "pose.quat_x",
                "pose.quat_y",
                "pose.quat_z",
                "pose.quat_w"
            ],
            "shape": [
                7
            ]
        },
        "observation.images.camera1": {
            "dtype": "video",
            "shape": [
                720,
                720,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 720,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera2": {
            "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.camera3": {
            "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": {
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                1
            ],
            "names": null
        },
        "episode_index": {
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            "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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