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float32
0
147
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int64
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4.41k
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int64
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9
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18.3k
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92
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[ 0.3784785270690918, 0.22763031721115112, -0.2759591341018677, 0.000437129259807989, -0.00021344090055208653, 0.002229703590273857, 0.0001907050609588623 ]
[ -0.6227442026138306, -0.1042347252368927, 0.35444632172584534, 0.05461690202355385, 0.9985071420669556, -0.0006381393759511411, -0.0002507273748051375 ]
3.1
93
0
93
0
[ 0.3385717570781708, 0.1965346783399582, -0.29338905215263367, 0.00018383412680123, -0.00017340783961117268, 0.000874930527061224, 0.003048717975616455 ]
[ -0.6242133378982544, -0.1051945835351944, 0.3533235788345337, 0.054637107998132706, 0.9985060095787048, -0.0006620313506573439, -0.0003561821940820664 ]
3.133333
94
0
94
0
[ 0.3336445391178131, 0.20407001674175262, -0.28698915243148804, 0.000008230741514125839, -0.00014028322766534984, 0.0020287418738007545, 0.005730241537094116 ]
[ -0.6253663301467896, -0.10591728985309601, 0.3522375822067261, 0.054658111184835434, 0.9985048174858093, -0.0006838617846369743, -0.000426692480687052 ]
3.166667
95
0
95
0
[ 0.3227793276309967, 0.2040342390537262, -0.2693893313407898, 0.00007952026498969644, -0.00029575033113360405, 0.0040498338639736176, 0.0036140084266662598 ]
[ -0.6265429854393005, -0.10673246532678604, 0.3511407673358917, 0.054663535207509995, 0.9985044598579407, -0.0007329964428208768, -0.0004676183743868023 ]
3.2
96
0
96
0
[ 0.3223543167114258, 0.19592462480068207, -0.27089881896972656, 0.00017835172184277326, -0.00018511482630856335, 0.0019680834375321865, 0.006210446357727051 ]
[ -0.627827525138855, -0.10759672522544861, 0.3499816954135895, 0.05468318238854408, 0.9985033273696899, -0.000764936616178602, -0.0005196966230869293 ]
3.233333
97
0
97
0
[ 0.33549702167510986, 0.19550345838069916, -0.2793351709842682, 0.0003468286886345595, -0.0001667617034399882, 0.0029690065421164036, 0.002504676580429077 ]
[ -0.6290215849876404, -0.10842224955558777, 0.34879064559936523, 0.05467768758535385, 0.9985036253929138, -0.0008001984679140151, -0.0004934772150591016 ]
3.266667
98
0
98
0
[ 0.3329177796840668, 0.19974713027477264, -0.2860450744628906, 0.0002401233941782266, -0.000244800845393911, 0.003185019362717867, 0.009745210409164429 ]
[ -0.6302038431167603, -0.10919284075498581, 0.3476741313934326, 0.05470509082078934, 0.9985020756721497, -0.0008328778785653412, -0.0005226060166023672 ]
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": 18346,
    "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": {
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            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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