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observation.images.primary
image
observation.images.wrist
image
observation.state
list
action
list
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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2.3
46
0
46
0
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2.35
47
0
47
0
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2.4
48
0
48
0
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2.45
49
0
49
0
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2.5
50
0
50
0
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2.55
51
0
51
0
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2.6
52
0
52
0
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2.65
53
0
53
0
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2.7
54
0
54
0
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2.75
55
0
55
0
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2.8
56
0
56
0
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2.85
57
0
57
0
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2.9
58
0
58
0
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2.95
59
0
59
0
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3
60
0
60
0
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3.05
61
0
61
0
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3.1
62
0
62
0
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3.15
63
0
63
0
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3.2
64
0
64
0
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3.25
65
0
65
0
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3.3
66
0
66
0
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3.35
67
0
67
0
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3.4
68
0
68
0
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3.45
69
0
69
0
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3.5
70
0
70
0
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3.55
71
0
71
0
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3.6
72
0
72
0
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3.65
73
0
73
0
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3.7
74
0
74
0
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3.75
75
0
75
0
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3.8
76
0
76
0
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3.85
77
0
77
0
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3.9
78
0
78
0
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3.95
79
0
79
0
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4
80
0
80
0
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4.05
81
0
81
0
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4.1
82
0
82
0
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4.15
83
0
83
0
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4.2
84
0
84
0
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4.25
85
0
85
0
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4.3
86
0
86
0
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4.35
87
0
87
0
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4.4
88
0
88
0
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4.45
89
0
89
0
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4.5
90
0
90
0
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4.55
91
0
91
0
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4.6
92
0
92
0
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4.65
93
0
93
0
[ 0.5789077281951904, 0.10919500887393951, 0.20982937514781952, -3.1304612159729004, 0.030180595815181732, -0.016454681754112244, 0.1536523997783661 ]
[ 0.00038500706432387233, 0.00005191918171476573, 0.0015942127211019397, 0.0004065356042701751, -0.0027080001309514046, -0.000006055313406250207, 1 ]
4.7
94
0
94
0
[ 0.5798457860946655, 0.10939611494541168, 0.20716217160224915, -3.129594087600708, 0.028181910514831543, -0.018394023180007935, 0.08690176159143448 ]
[ 0.0006121701444499195, -0.00017970944463741034, 0.0024456498213112354, 0.0006085810018703341, -0.004106851760298014, -0.00046235640184022486, 1 ]
4.75
95
0
95
0
[ 0.580597996711731, 0.10953933745622635, 0.20591546595096588, -3.1288962364196777, 0.025898782536387444, -0.020048966631293297, 0.015113350003957748 ]
[ 0.0009353539790026844, -0.0007394295535050333, 0.003481891704723239, 0.0008685013162903488, -0.005810473579913378, -0.001484451349824667, 1 ]
4.8
96
0
96
0
[ 0.5812404155731201, 0.10955512523651123, 0.20632755756378174, -3.128403902053833, 0.023222947493195534, -0.021484488621354103, 0.015113350003957748 ]
[ 0.001286721439100802, -0.0014476653886958957, 0.004777246620506048, 0.0010822669137269258, -0.007469847332686186, -0.0027546745259314775, 1 ]
4.85
97
0
97
0
[ 0.5820363759994507, 0.1095019057393074, 0.20749521255493164, -3.1279499530792236, 0.02036261558532715, -0.022815080359578133, 0.015113350003957748 ]
[ 0.0015951659297570586, -0.0025053212884813547, 0.006554291117936373, 0.001211231923662126, -0.00891332421451807, -0.004582798108458519, 1 ]
4.9
98
0
98
0
[ 0.583378255367279, 0.10918383300304413, 0.2097325474023819, -3.1273224353790283, 0.01569986902177334, -0.0247404295951128, 0.015113350003957748 ]
[ 0.0015182847855612636, -0.00412145908921957, 0.007673182524740696, 0.0008091680356301367, -0.0075190928764641285, -0.0072130560874938965, 1 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "franka",
    "total_episodes": 51,
    "total_frames": 28867,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:51"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": null,
    "features": {
        "observation.images.primary": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.images.wrist": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "roll",
                "pitch",
                "yaw",
                "gripper"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "roll",
                "pitch",
                "yaw",
                "gripper"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

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