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float32
0
85.1
frame_index
int64
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2.55k
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3
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[ -0.8061960339546204, -0.0324198380112648, 0.31164079904556274, 0.00015560135943815112, 0.9999927282333374, -0.0008236607536673546, -0.003715064376592636 ]
3.033333
91
0
91
0
[ 0.2631024122238159, 0.22057434916496277, -0.4485483169555664, 0.00013404636410996318, -0.00003944977652281523, -0.00033048796467483044, 0.0052976906299591064 ]
[ -0.8070973753929138, -0.03327818959951401, 0.3100133240222931, 0.00016158269136212766, 0.9999922513961792, -0.0008268211386166513, -0.003852476831525564 ]
3.066667
92
0
92
0
[ 0.2750893533229828, 0.22975921630859375, -0.4604589343070984, -0.000055452568631153554, -0.000049239519285038114, 0.0022245533764362335, -0.003976017236709595 ]
[ -0.8080597519874573, -0.034211356192827225, 0.30820295214653015, 0.00021047265909146518, 0.9999918341636658, -0.000860427797306329, -0.003936407621949911 ]
3.1
93
0
93
0
[ 0.27064985036849976, 0.23823928833007812, -0.39627736806869507, 0.00021333775657694787, 0.00013895469601266086, -0.000764458323828876, 0.001482248306274414 ]
[ -0.8089693784713745, -0.035043276846408844, 0.30662664771080017, 0.0002223421906819567, 0.9999915361404419, -0.0008793913293629885, -0.00401280215010047 ]
3.133333
94
0
94
0
[ 0.2502986192703247, 0.25875696539878845, -0.3065619468688965, -0.00017056174692697823, -0.00009789061004994437, 0.0004462548531591892, 0.005830854177474976 ]
[ -0.8099523782730103, -0.035990264266729355, 0.30513131618499756, 0.00020513799972832203, 0.9999911785125732, -0.0009079808369278908, -0.004088897258043289 ]
3.166667
95
0
95
0
[ 0.258987694978714, 0.27071571350097656, -0.37888962030410767, 0.0003492523683235049, 0.000015353842172771692, 0.0008475775830447674, 0.001107931137084961 ]
[ -0.8109892010688782, -0.03690924122929573, 0.30354586243629456, 0.00021977951109874994, 0.9999908804893494, -0.0009409967460669577, -0.004160232841968536 ]
3.2
96
0
96
0
[ 0.26036715507507324, 0.2715786397457123, -0.393468976020813, 0.000025881576220854186, -0.000014351739082485437, 0.00157834030687809, 0.007483124732971191 ]
[ -0.8121256828308105, -0.03814046457409859, 0.30212604999542236, 0.00021557121363002807, 0.9999903440475464, -0.0009688615682534873, -0.004282010719180107 ]
3.233333
97
0
97
0
[ 0.2622530460357666, 0.2640196979045868, -0.40320491790771484, 0.00031128566479310393, -0.000010049931006506085, 0.0019236751832067966, -0.0004968643188476562 ]
[ -0.8132326602935791, -0.0393020361661911, 0.30069097876548767, 0.00020557947573252022, 0.9999898076057434, -0.0010060989297926426, -0.004402040038257837 ]
3.266667
98
0
98
0
[ 0.2613813281059265, 0.26245298981666565, -0.4153125286102295, 0.00008095880912151188, 0.000051690556574612856, 0.002690571825951338, 0.005289256572723389 ]
[ -0.8142468929290771, -0.04040975123643875, 0.29912108182907104, 0.00019742817676160485, 0.99998939037323, -0.0010523570235818624, -0.004480712115764618 ]
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": 11,
    "total_frames": 11775,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:11"
    },
    "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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            ],
            "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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