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action list | observation.state list | observation.depth.cam_0 array 2D | observation.state.intrinsic array 2D | observation.state.extrinsic array 2D | timestamp float32 0 9.9 | frame_index int64 0 99 | episode_index int64 0 0 | index int64 0 99 | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|
[-0.373089075088501,0.38560131192207336,-0.6287152767181396,-2.5256829261779785,0.5624514818191528,2(...TRUNCATED) | [0.30206575989723206,0.06808766722679138,1.4714170694351196,-0.04330240935087204,0.9917662739753723,(...TRUNCATED) | [[0.63330078125,0.63427734375,0.634765625,0.63525390625,0.63623046875,0.63720703125,0.63818359375,0.(...TRUNCATED) | [
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[0.8231871128082275,0.17989400029182434,-0.38695859909057617,-2.7830729484558105,0.254733681678772,2(...TRUNCATED) | [0.30206575989723206,0.06808766722679138,1.4714170694351196,-0.04330240935087204,0.9917662739753723,(...TRUNCATED) | [[3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.632812(...TRUNCATED) | [
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[-0.5741937160491943,0.2356114387512207,0.7084133625030518,-2.7636094093322754,-0.52812659740448,2.6(...TRUNCATED) | [0.30208680033683777,0.06809279322624207,1.4714242219924927,-0.04330435022711754,0.9917633533477783,(...TRUNCATED) | [[0.6337890625,0.63427734375,0.634765625,0.63525390625,0.63623046875,0.63720703125,0.63818359375,0.6(...TRUNCATED) | [
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[-0.38445115089416504,0.3931715786457062,-0.5579466819763184,-2.4870033264160156,0.5030409097671509,(...TRUNCATED) | [0.30207711458206177,0.0680939257144928,1.4714343547821045,-0.0433032400906086,0.9917605519294739,0.(...TRUNCATED) | [[0.6337890625,0.63427734375,0.634765625,0.63525390625,0.63623046875,0.63720703125,0.63818359375,0.6(...TRUNCATED) | [
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[0.7640550136566162,0.2349279224872589,-0.3410313129425049,-2.6875009536743164,0.2538541555404663,2.(...TRUNCATED) | [0.30207711458206177,0.0680939257144928,1.4714343547821045,-0.0433032400906086,0.9917605519294739,0.(...TRUNCATED) | [[3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.632812(...TRUNCATED) | [
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[-0.3822336196899414,0.39756396412849426,-0.6271603107452393,-2.507166862487793,0.5656241178512573,2(...TRUNCATED) | [0.3020540177822113,0.06808759272098541,1.4714072942733765,-0.043303780257701874,0.9917662143707275,(...TRUNCATED) | [[0.63330078125,0.63427734375,0.634765625,0.63525390625,0.63623046875,0.63720703125,0.63818359375,0.(...TRUNCATED) | [
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[0.41784024238586426,0.11014345288276672,0.006742715835571289,-2.884211540222168,-0.0022264719009399(...TRUNCATED) | [0.3020540177822113,0.06808759272098541,1.4714072942733765,-0.043303780257701874,0.9917662143707275,(...TRUNCATED) | [[3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.632812(...TRUNCATED) | [
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[-0.4473707675933838,0.48325255513191223,-0.4010732173919678,-2.2807955741882324,0.38021886348724365(...TRUNCATED) | [0.30201780796051025,0.06811979413032532,1.4714933633804321,-0.043309085071086884,0.9917575716972351(...TRUNCATED) | [[0.6337890625,0.63427734375,0.634765625,0.63525390625,0.63623046875,0.63720703125,0.63818359375,0.6(...TRUNCATED) | [
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[0.5720744132995605,0.3704836666584015,-0.2516670227050781,-2.4361963272094727,0.262736439704895,2.7(...TRUNCATED) | [0.30201780796051025,0.06811979413032532,1.4714933633804321,-0.043309085071086884,0.9917575716972351(...TRUNCATED) | [[3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.6328125,3.632812(...TRUNCATED) | [
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[-0.5006616115570068,0.5913028717041016,-0.3166792094707489,-2.0618114471435547,0.31157219409942627,(...TRUNCATED) | [0.30207952857017517,0.06809209287166595,1.471401333808899,-0.04331006854772568,0.9917680621147156,0(...TRUNCATED) | [[0.6337890625,0.63427734375,0.634765625,0.63525390625,0.63623046875,0.63720703125,0.63818359375,0.6(...TRUNCATED) | [
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in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "Franka",
"total_episodes": 1,
"total_frames": 100,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:1"
},
"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",
"shape": [
8
],
"names": [
"j1",
"j2",
"j3",
"j4",
"j5",
"j6",
"j7",
"gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
15
],
"names": [
"ee_x",
"ee_y",
"ee_z",
"ee_qx",
"ee_qy",
"ee_qz",
"ee_qw",
"j1",
"j2",
"j3",
"j4",
"j5",
"j6",
"j7",
"gripper"
]
},
"observation.images.cam_0": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.depth.cam_0": {
"dtype": "float32",
"shape": [
256,
256
],
"names": "depth_image"
},
"observation.state.intrinsic": {
"dtype": "float32",
"shape": [
3,
3
],
"names": "intrinsic_matrix"
},
"observation.state.extrinsic": {
"dtype": "float32",
"shape": [
4,
4
],
"names": "extrinsic_matrix"
},
"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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