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float32
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28.2
frame_index
int64
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[ 0.5240628123283386, -0.17799222469329834, 0.09677287936210632, 0.08142395317554474, 0.03909388929605484, 2.5548884868621826, 0.08500000089406967, 0, 0 ]
[ -0.14547525346279144, 0.47669875621795654, 1.6388943195343018, 0.016528144478797913, 0.054528236389160156, 0.08392783999443054 ]
2.966667
89
0
89
0
[ 0.5497558116912842, -0.21686574816703796, 0.04998255893588066, -0.09771150350570679, 0.07520394027233124, 2.6768558025360107, 501.01226806640625, 435.7664489746094, 295.7677001953125, 30, 30, 30, -0.012277841567993164 ]
[ 0.5257545709609985, -0.18200713396072388, 0.09296321123838425, 0.07759170234203339, 0.03821338713169098, 2.560515880584717, 0.08500000089406967, 0, 0 ]
[ -0.7493512034416199, 0.5851740837097168, 2.3571066856384277, 0.0668913796544075, 0.1331416517496109, 0.06562240421772003 ]
3
90
0
90
0
[ 0.5496383309364319, -0.21850928664207458, 0.04820241034030914, -0.10065995156764984, 0.07347691804170609, 2.680101156234741, 500.93756103515625, 452.98834228515625, 301.05621337890625, 30, 30, 30, -0.010467171669006348 ]
[ 0.5273181200027466, -0.1861087679862976, 0.08902373164892197, 0.0733170434832573, 0.03717644140124321, 2.5667264461517334, 0.08500000089406967, 0, 0 ]
[ -0.01712343469262123, 0.6220177412033081, 1.642655372619629, 0.028761200606822968, 0.03635825589299202, 0.06792948395013809 ]
3.033333
91
0
91
0
[ 0.549580454826355, -0.21972443163394928, 0.04658825695514679, -0.10570522397756577, 0.07017180323600769, 2.6832940578460693, 500.9427490234375, 460.0934143066406, 300.4317626953125, 30, 30, 30, -0.009588778018951416 ]
[ 0.5287212133407593, -0.19007816910743713, 0.08512632548809052, 0.0691346600651741, 0.036358792334795, 2.5724387168884277, 0.08500000089406967, 0, 0 ]
[ 0.14642022550106049, 0.6902812123298645, 1.9795509576797485, 0.05514044687151909, 0.030260523781180382, 0.08809289336204529 ]
3.066667
92
0
92
0
[ 0.5496440529823303, -0.22091206908226013, 0.045002490282058716, -0.10942931473255157, 0.0670914575457573, 2.6860158443450928, 500.96734619140625, 467.5887756347656, 306.0589599609375, 30, 30, 30, -0.010108232498168945 ]
[ 0.5298222303390503, -0.19359177350997925, 0.08146636188030243, 0.06485152244567871, 0.03508233651518822, 2.577709913253784, 0.08500000089406967, 0, 0 ]
[ -0.6082368493080139, 0.44144099950790405, 1.751917839050293, 0.036991238594055176, 0.08175142854452133, 0.07802589237689972 ]
3.1
93
0
93
0
[ 0.5494396686553955, -0.2219609022140503, 0.043216243386268616, -0.11471819877624512, 0.0633540004491806, 2.6893413066864014, 500.9859619140625, 476.7832946777344, 319.75628662109375, 30, 30, 30, -0.01064521074295044 ]
[ 0.5308468341827393, -0.19717416167259216, 0.0777771919965744, 0.06053692474961281, 0.033692680299282074, 2.5833516120910645, 0.08500000089406967, 0, 0 ]
[ -0.727966845035553, 0.6542456746101379, 2.1794679164886475, 0.044694121927022934, 0.0996764674782753, 0.09845741838216782 ]
3.133333
94
0
94
0
[ 0.5494956374168396, -0.22259263694286346, 0.04198773205280304, -0.1167614609003067, 0.06186710670590401, 2.6916792392730713, 500.9992370605469, 480.1896667480469, 324.9854736328125, 30, 30, 30, -0.011224806308746338 ]
[ 0.5316500067710876, -0.20037056505680084, 0.07422754168510437, 0.056231606751680374, 0.03218492493033409, 2.5883684158325195, 0.08500000089406967, 0, 0 ]
[ -1.1486437320709229, 1.0518560409545898, 1.6612255573272705, 0.07395976781845093, 0.1267225295305252, 0.08982554823160172 ]
3.166667
95
0
95
0
[ 0.5492824912071228, -0.22360645234584808, 0.039911989122629166, -0.1221206784248352, 0.0573178231716156, 2.6961212158203125, 501.23388671875, 486.2300109863281, 340.56884765625, 30, 30, 30, -0.01172482967376709 ]
[ 0.5324264764785767, -0.2034667432308197, 0.07091910392045975, 0.05224106088280678, 0.03105233609676361, 2.5934770107269287, 0.08500000089406967, 0, 0 ]
[ -1.258742332458496, 1.1351861953735352, 2.5708725452423096, 0.11940617859363556, 0.12197256833314896, 0.0779649019241333 ]
3.2
96
0
96
0
[ 0.5490729212760925, -0.2244136780500412, 0.03791774809360504, -0.12730520963668823, 0.052839044481515884, 2.6989569664001465, 501.3440856933594, 491.36761474609375, 363.3272705078125, 30, 30, 30, -0.013635694980621338 ]
[ 0.532943606376648, -0.2061850130558014, 0.06763625144958496, 0.048134833574295044, 0.029579615220427513, 2.5985476970672607, 0.08500000089406967, 0, 0 ]
[ -0.8797575831413269, 0.7826845049858093, 2.4582536220550537, 0.07266242057085037, 0.0804876983165741, 0.0853775218129158 ]
3.233333
97
0
97
0
[ 0.5484835505485535, -0.2247186154127121, 0.03656546771526337, -0.13024325668811798, 0.04981973022222519, 2.701418876647949, 501.3311462402344, 493.1396484375, 382.4619140625, 30, 30, 30, -0.014803051948547363 ]
[ 0.5333945751190186, -0.20846274495124817, 0.06484005600214005, 0.044743459671735764, 0.028265593573451042, 2.603327751159668, 0.08500000089406967, 0, 0 ]
[ -1.0115482807159424, 1.0701680183410645, 2.555351734161377, 0.10780630260705948, 0.08833938091993332, 0.08812948316335678 ]
3.266667
98
0
98
0
[ 0.5481060743331909, -0.22508050501346588, 0.03498976677656174, -0.132916659116745, 0.04644537717103958, 2.7042882442474365, 501.2919921875, 495.35333251953125, 400.35211181640625, 30, 30, 30, -0.01585453748703003 ]
[ 0.533700704574585, -0.2105717658996582, 0.061989761888980865, 0.04115266725420952, 0.026766711845993996, 2.6083250045776367, 0.08500000089406967, 0, 0 ]
[ -1.1885182857513428, 1.540475845336914, 2.9383928775787354, 0.15593750774860382, 0.11726152896881104, 0.07711102068424225 ]
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": "custom_manipulator",
    "total_episodes": 10,
    "total_frames": 6190,
    "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": [
                "position.x",
                "position.y",
                "position.z",
                "orientation.x",
                "orientation.y",
                "orientation.z",
                "stiffness.tx",
                "stiffness.ty",
                "stiffness.tz",
                "stiffness.rx",
                "stiffness.ry",
                "stiffness.rz",
                "gripper"
            ],
            "shape": [
                13
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "position.x",
                "position.y",
                "position.z",
                "orientation.x",
                "orientation.y",
                "orientation.z",
                "gripper",
                "gripper_force",
                "obj_detected"
            ],
            "shape": [
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            ]
        },
        "observation.images.wrist_rgb": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.behind_rgb": {
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            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.environment_state": {
            "dtype": "float32",
            "names": [
                "ft_fx",
                "ft_fy",
                "ft_fz",
                "ft_tx",
                "ft_ty",
                "ft_tz"
            ],
            "shape": [
                6
            ]
        },
        "timestamp": {
            "dtype": "float32",
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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