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action list | observation.state list | observation.depth.cam_0 array 2D | observation.intrinsic.cam_0 array 2D | observation.extrinsic.cam_0 array 2D | timestamp float32 0 142 | frame_index int64 0 1.42k | episode_index int64 0 12 | index int64 0 9.38k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|
[-0.48653125762939453,0.48983123898506165,-0.5386190414428711,-2.3211898803710938,0.5102394819259644(...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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[0.34104251861572266,0.016794949769973755,0.03500032424926758,-3.0373706817626953,-0.008450150489807(...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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[-0.46396780014038086,0.47293856739997864,-0.4711458683013916,-2.321512222290039,0.44300949573516846(...TRUNCATED) | [0.30208879709243774,0.06809145212173462,1.4713572263717651,-0.043311707675457,0.9917736053466797,0.(...TRUNCATED) | [[0.6337890625,0.63427734375,0.634765625,0.63525390625,0.63623046875,0.63720703125,0.63818359375,0.6(...TRUNCATED) | [
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[0.6195001602172852,0.3033926784992218,-0.3095729351043701,-2.5671606063842773,0.25468385219573975,2(...TRUNCATED) | [0.30208879709243774,0.06809145212173462,1.4713572263717651,-0.043311707675457,0.9917736053466797,0.(...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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[-0.4060804843902588,0.4526660740375519,-0.4469470977783203,-2.372058153152466,0.4118291139602661,2.(...TRUNCATED) | [0.29619234800338745,0.06095931679010391,1.479334831237793,-0.03698854520916939,0.991642951965332,0.(...TRUNCATED) | [[0.6337890625,0.63427734375,0.634765625,0.63525390625,0.63623046875,0.63720703125,0.63818359375,0.6(...TRUNCATED) | [
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[0.6486642360687256,0.34272173047065735,-0.2753007411956787,-2.5187740325927734,0.23207271099090576,(...TRUNCATED) | [0.29619234800338745,0.06095931679010391,1.479334831237793,-0.03698854520916939,0.991642951965332,0.(...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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[-0.5043175220489502,0.5577573776245117,-0.3726763427257538,-2.139920234680176,0.362587571144104,2.5(...TRUNCATED) | [0.30196818709373474,0.06809155642986298,1.471526026725769,-0.04331075772643089,0.9917553067207336,0(...TRUNCATED) | [[0.63330078125,0.63427734375,0.634765625,0.63525390625,0.63623046875,0.63720703125,0.63818359375,0.(...TRUNCATED) | [
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[0.5618200302124023,0.19776344299316406,-0.21077653765678406,-2.7383179664611816,0.14895093441009521(...TRUNCATED) | [0.30196818709373474,0.06809155642986298,1.471526026725769,-0.04331075772643089,0.9917553067207336,0(...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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[-0.4234762191772461,0.45768454670906067,-0.4076688289642334,-2.3269827365875244,0.3829280138015747,(...TRUNCATED) | [0.3020459711551666,0.06808342784643173,1.471470832824707,-0.043305423110723495,0.9917564392089844,0(...TRUNCATED) | [[0.63330078125,0.63427734375,0.634765625,0.63525390625,0.63623046875,0.63720703125,0.63818359375,0.(...TRUNCATED) | [
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[0.6050581932067871,0.3670375645160675,-0.24993681907653809,-2.4410085678100586,0.2450495958328247,2(...TRUNCATED) | [0.3020459711551666,0.06808342784643173,1.471470832824707,-0.043305423110723495,0.9917564392089844,0(...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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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "Franka",
"total_episodes": 13,
"total_frames": 9382,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:13"
},
"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.intrinsic.cam_0": {
"dtype": "float32",
"shape": [
3,
3
],
"names": "intrinsic_matrix"
},
"observation.extrinsic.cam_0": {
"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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