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float32
0
42.9
frame_index
int64
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1.29k
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int64
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8.01k
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3
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[ -0.8060756325721741, -0.05022640898823738, 0.35686883330345154, 0.0005553020164370537, 0.9999895691871643, -0.001305231242440641, -0.00434179836884141 ]
3.066667
92
0
92
0
[ 0.18090687692165375, 0.26146063208580017, -0.09806603193283081, 0.0002649201487656683, -0.00008539529517292976, 0.0018846425227820873, 0.00172385573387146 ]
[ -0.8067266941070557, -0.05126453936100006, 0.35656633973121643, 0.0005683593917638063, 0.9999895691871643, -0.0013603261904790998, -0.004325220361351967 ]
3.1
93
0
93
0
[ 0.17838867008686066, 0.2493225634098053, -0.12295305728912354, -0.00010815235873451456, -0.00007327087223529816, 0.002881761174649, 0.003957569599151611 ]
[ -0.8074579834938049, -0.05236791446805, 0.3561360538005829, 0.0005830148002132773, 0.99998939037323, -0.0013983709504827857, -0.004352353513240814 ]
3.133333
94
0
94
0
[ 0.168351948261261, 0.23042896389961243, -0.24884961545467377, -0.00043252570321783423, -0.00011215004633413628, 0.003087152261286974, 0.006487995386123657 ]
[ -0.8080725073814392, -0.05329379439353943, 0.3556913733482361, 0.0006181527278386056, 0.9999892115592957, -0.0014256733702495694, -0.004380189813673496 ]
3.166667
95
0
95
0
[ 0.1506715565919876, 0.2109440267086029, -0.33959221839904785, -0.00019314397650305182, -0.00003526128421071917, 0.0026298509910702705, 0.0006870627403259277 ]
[ -0.8087714910507202, -0.054303985089063644, 0.3547344207763672, 0.0006215525208972394, 0.999988853931427, -0.0014481148682534695, -0.004448576830327511 ]
3.2
96
0
96
0
[ 0.058034833520650864, 0.16743910312652588, -0.4784204363822937, -0.00005349337880034, -0.00019300883286632597, 0.002127015497535467, 0.006069660186767578 ]
[ -0.8092561364173889, -0.0551314540207386, 0.3534409701824188, 0.0006308960146270692, 0.999988853931427, -0.0014798484044149518, -0.004437632393091917 ]
3.233333
97
0
97
0
[ 0.10280913859605789, 0.19287991523742676, -0.47457724809646606, 0.000027652762582874857, -0.00008072819036897272, 0.003719349391758442, 0.0028201937675476074 ]
[ -0.8093609809875488, -0.05580759793519974, 0.3515295684337616, 0.0006376081146299839, 0.9999893307685852, -0.001527101150713861, -0.004306085407733917 ]
3.266667
98
0
98
0
[ 0.12733270227909088, 0.18779441714286804, -0.5506566166877747, -0.00008846995478961617, -0.00018764144624583423, 0.0020507872104644775, 0.0074194371700286865 ]
[ -0.8097386956214905, -0.05668174847960472, 0.34950345754623413, 0.0006597521132789552, 0.9999898672103882, -0.0015660281060263515, -0.0041733658872544765 ]
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": 8012,
    "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": [
                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": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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