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observation.state.joint
list
observation.state
list
action
list
timestamp
float32
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36.6
frame_index
int64
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549
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3
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3.4
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3.6
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4
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[ 0.6243110299110413, 0.047560516744852066, 0.18576717376708984, -3.052659034729004, -0.014294225722551346, -1.15830397605896, 0.6347606778144836 ]
[ 0.07656723260879517, -0.060277365148067474, -0.00022354071552399546, -0.00952652096748352, -0.07862330973148346, -0.10412043333053589, 0.3968871533870697 ]
6.533333
98
0
98
0
[ 0.06545717269182205, 0.36950379610061646, 0.0033283617813140154, -1.9788845777511597, 0.020618164911866188, 2.4403719902038574, 2.0314364433288574 ]
[ 0.6279521584510803, 0.044713471084833145, 0.18585170805454254, -3.049455165863037, -0.0142042376101017, -1.1933289766311646, 0.6347606778144836 ]
[ 0.056582286953926086, -0.057537343353033066, -0.010245825164020061, -0.012652257457375526, -0.045674096792936325, -0.0910363420844078, 0.40466925501823425 ]
6.6
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": 1,
    "total_frames": 550,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:1"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.images.primary": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "video_info": {
                "video.fps": 15,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            },
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
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                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "video_info": {
                "video.fps": 15,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            },
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state.joint": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6"
            ]
        },
        "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
        }
    }
}

Citation

BibTeX:

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