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int64
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3.033333
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91
0
[ -0.002466089092195034, 0.004699817858636379, -0.2526339292526245, -0.00008636889106128365, -0.00012184516526758671, 0.0022681402042508125, 0.006420552730560303 ]
[ -0.7688937783241272, 0.0076135979034006596, 0.38253384828567505, 0.00010467432002769783, 0.9999922513961792, -0.003643212141469121, 0.001491282251663506 ]
3.066667
92
0
92
0
[ 0.003770146518945694, 0.1353931576013565, -0.20136381685733795, -0.00005304999649524689, -0.00024906324688345194, 0.0027421540580689907, 0.002365022897720337 ]
[ -0.7688889503479004, 0.007585411425679922, 0.3816393315792084, 0.0001038274058373645, 0.9999922513961792, -0.003650591941550374, 0.0014749863184988499 ]
3.1
93
0
93
0
[ 0.01038577314466238, 0.1694730520248413, -0.16821500658988953, 0.00018121871107723564, -0.00020143551228102297, 0.004058930091559887, -0.0041869282722473145 ]
[ -0.7689123153686523, 0.00716116139665246, 0.3808947503566742, 0.0001070554499165155, 0.9999922513961792, -0.0036606413777917624, 0.0014406562549993396 ]
3.133333
94
0
94
0
[ 0.01912936009466648, 0.19156989455223083, -0.13237106800079346, -0.00015021544822957367, -0.00015960219025146216, 0.0002622161991894245, 0.001865297555923462 ]
[ -0.7689557075500488, 0.006451122462749481, 0.3801032602787018, 0.00014885641576256603, 0.9999921321868896, -0.003673830535262823, 0.0014734788564965129 ]
3.166667
95
0
95
0
[ 0.030464764684438705, 0.212453231215477, -0.14650684595108032, -0.000011712587365764193, -0.0000904672488104552, 0.0011125179007649422, 0.008626013994216919 ]
[ -0.7690258026123047, 0.005632743239402771, 0.3795381784439087, 0.00010520089563215151, 0.9999920129776001, -0.0037159333005547523, 0.0014831534354016185 ]
3.2
96
0
96
0
[ 0.0458679124712944, 0.18450045585632324, -0.11380412429571152, -0.0003176434838678688, -0.00012499335571192205, 0.0009003975428640842, 0.005089402198791504 ]
[ -0.7691172361373901, 0.004840205889195204, 0.3789159655570984, 0.00014067572192288935, 0.9999919533729553, -0.0037094596773386, 0.00151963927783072 ]
3.233333
97
0
97
0
[ 0.0763503760099411, 0.227018341422081, -0.06761128455400467, -0.00012625065573956817, -0.00015403896395582706, 0.0016297772526741028, 0.0004419684410095215 ]
[ -0.7692901492118835, 0.0040091946721076965, 0.378409743309021, 0.0001338868896709755, 0.9999918937683105, -0.003732639132067561, 0.0015152242267504334 ]
3.266667
98
0
98
0
[ 0.0890468880534172, 0.2406013458967209, -0.03167048841714859, -0.0003052822721656412, -0.00019599210645537823, -0.0006218275520950556, 0.0027114152908325195 ]
[ -0.7695491313934326, 0.0031283481512218714, 0.3781064450740814, 0.00015821968554519117, 0.999991774559021, -0.003742594039067626, 0.0015635484596714377 ]
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": 9235,
    "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
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "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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