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float32
0
34
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int64
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1.02k
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int64
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9
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7.79k
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3
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90
0
[ -0.0020863148383796215, 0.19873030483722687, -0.18454083800315857, 0.00015796739899087697, -0.00017840674263425171, 0.002478170208632946, -0.0014446079730987549 ]
[ -0.7435404062271118, -0.01797296851873398, 0.39229586720466614, 0.00042717959149740636, 0.9999997615814209, -0.00048051867634058, -0.0002510508638806641 ]
3.033333
91
0
91
0
[ -0.0007115392945706844, 0.1975914090871811, -0.14518240094184875, 0.00025422341423109174, -0.00011770949640776962, 0.001670168712735176, 0.0038662850856781006 ]
[ -0.7435413002967834, -0.018657781183719635, 0.3916512727737427, 0.0004459864867385477, 0.9999997615814209, -0.000489681726321578, -0.00028848409419879317 ]
3.066667
92
0
92
0
[ 0.001557996030896902, 0.1965668946504593, -0.1443619728088379, 0.00024343322729691863, -0.00042298261541873217, 0.001475354190915823, 0.007810473442077637 ]
[ -0.7435373067855835, -0.019420526921749115, 0.39114218950271606, 0.00045853416668251157, 0.9999997019767761, -0.0004823992494493723, -0.00036106817424297333 ]
3.1
93
0
93
0
[ 0.00529348012059927, 0.18825937807559967, -0.1760808825492859, -0.00015244526730384678, -0.0002244125644210726, 0.0029145930893719196, 0.005501002073287964 ]
[ -0.7435414791107178, -0.020133454352617264, 0.39065462350845337, 0.0004674896481446922, 0.9999997019767761, -0.0004979555960744619, -0.00041085228440351784 ]
3.133333
94
0
94
0
[ 0.005243994761258364, 0.20628458261489868, -0.1432499885559082, -0.00004993034599465318, -0.00009850829519564286, 0.0013713440857827663, 0.0029118359088897705 ]
[ -0.7435261607170105, -0.020817207172513008, 0.3900306224822998, 0.0004959607031196356, 0.9999996423721313, -0.0005162559100426733, -0.0003911671810783446 ]
3.166667
95
0
95
0
[ 0.007036954630166292, 0.2206161916255951, -0.06465146690607071, -0.00009712152677820995, -0.0002545924799051136, 0.002257165964692831, 0.00424841046333313 ]
[ -0.7435547113418579, -0.021680807694792747, 0.3894904553890228, 0.000510433514136821, 0.9999996423721313, -0.0005449681775644422, -0.00041833240538835526 ]
3.2
96
0
96
0
[ 0.006428414490073919, 0.25084927678108215, -0.051013004034757614, 0.0002785046526696533, -0.00001591157342772931, 0.0019969474524259567, 0.004035532474517822 ]
[ -0.7435734868049622, -0.022447451949119568, 0.38929829001426697, 0.0005568236229009926, 0.9999995827674866, -0.0005655342829413712, -0.00042892139754258096 ]
3.233333
97
0
97
0
[ 0.03402675315737724, 0.2505539059638977, -0.059372954070568085, 0.0000019836516003124416, -0.00029469860601238906, 0.0018087616190314293, 0.004197627305984497 ]
[ -0.7436044812202454, -0.02326839417219162, 0.38904550671577454, 0.0005509077454917133, 0.9999995827674866, -0.0005826293490827084, -0.0004417684394866228 ]
3.266667
98
0
98
0
[ 0.022936832159757614, 0.2611130177974701, -0.07873248308897018, -0.00011395699402783066, -0.00030477382824756205, 0.0034335749223828316, 0.001702815294265747 ]
[ -0.7437763810157776, -0.02433273196220398, 0.3889390528202057, 0.0005659493617713451, 0.9999995231628418, -0.0006185346283018589, -0.0005446122959256172 ]
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": 10,
    "total_frames": 7789,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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": [
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                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
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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