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float32
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18.6
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int64
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558
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[ -1.9546293020248413, 1.1620776653289795, 3.0954134464263916, 0.12659789621829987, 0.2516634464263916, 0.1381421536207199 ]
2.966667
89
0
89
0
[ 0.56322181224823, -0.19210690259933472, 0.03123263642191887, 0.06147979572415352, -0.027016405016183853, 2.84013032913208, 499.53497314453125, 513.5294189453125, 458.9473571777344, 30, 30, 30, -0.015751957893371582 ]
[ 0.5413972735404968, -0.17066414654254913, 0.08248843252658844, 0.1345357596874237, 0.07085780799388885, 2.763739585876465, 0.08500000089406967, 0, 0 ]
[ -1.5161614418029785, 1.0272135734558105, 3.055905342102051, 0.10241515189409256, 0.17483003437519073, 0.1352270245552063 ]
3
90
0
90
0
[ 0.5632100105285645, -0.19243758916854858, 0.03098367154598236, 0.06030745431780815, -0.029773611575365067, 2.8405985832214355, 499.543212890625, 512.6693725585938, 465.8417053222656, 30, 30, 30, -0.017422616481781006 ]
[ 0.5409966707229614, -0.17258703708648682, 0.07715895026922226, 0.13272199034690857, 0.06861864030361176, 2.767998456954956, 0.08500000089406967, 0, 0 ]
[ -1.9957518577575684, 1.003389835357666, 3.2021803855895996, 0.13190078735351562, 0.22546425461769104, 0.1425500065088272 ]
3.033333
91
0
91
0
[ 0.5635184049606323, -0.19260594248771667, 0.030312642455101013, 0.05749587342143059, -0.03365529701113701, 2.840151071548462, 499.6401672363281, 511.6856689453125, 470.72052001953125, 30, 30, 30, -0.01863652467727661 ]
[ 0.5409033298492432, -0.17432737350463867, 0.07206682115793228, 0.13135965168476105, 0.06666196137666702, 2.7717316150665283, 0.08500000089406967, 0, 0 ]
[ -2.166389226913452, 1.4642962217330933, 3.1059930324554443, 0.16667702794075012, 0.23586618900299072, 0.15598583221435547 ]
3.066667
92
0
92
0
[ 0.5638035535812378, -0.19253045320510864, 0.029935698956251144, 0.05414747819304466, -0.037836652249097824, 2.838777780532837, 499.7743835449219, 510.74615478515625, 471.2172546386719, 30, 30, 30, -0.021409034729003906 ]
[ 0.5409868955612183, -0.17601262032985687, 0.06660020351409912, 0.1294538825750351, 0.06417473405599594, 2.775477170944214, 0.08500000089406967, 0, 0 ]
[ -2.485870361328125, 1.8802459239959717, 3.4307305812835693, 0.22064059972763062, 0.2655969560146332, 0.161993145942688 ]
3.1
93
0
93
0
[ 0.5643524527549744, -0.19379973411560059, 0.030014321208000183, 0.04815839231014252, -0.044732775539159775, 2.8299007415771484, 499.7906188964844, 504.83270263671875, 463.0469055175781, 30, 30, 30, -0.006128251552581787 ]
[ 0.541434645652771, -0.17757979035377502, 0.06139487028121948, 0.1281672716140747, 0.061877600848674774, 2.7788896560668945, 0.08500000089406967, 0, 0 ]
[ -2.433408737182617, 1.7697174549102783, 3.7535126209259033, 0.2106039673089981, 0.24748221039772034, 0.1744941771030426 ]
3.133333
94
0
94
0
[ 0.5645080804824829, -0.19320544600486755, 0.03035491332411766, 0.04267793148756027, -0.0482337661087513, 2.8253469467163086, 499.76629638671875, 502.92803955078125, 463.45965576171875, 30, 30, 30, 0.2043924629688263 ]
[ 0.541957676410675, -0.17897021770477295, 0.056535039097070694, 0.12629202008247375, 0.059293247759342194, 2.781991958618164, 0.08500000089406967, 0, 0 ]
[ -2.8142871856689453, 1.9217571020126343, 3.447002410888672, 0.21351775527000427, 0.2678294777870178, 0.18782465159893036 ]
3.166667
95
0
95
0
[ 0.5642359256744385, -0.192976713180542, 0.03085063025355339, 0.03472323715686798, -0.05473626032471657, 2.8100812435150146, 499.8171081542969, 491.7095947265625, 472.8822937011719, 30, 30, 30, 0.5971885323524475 ]
[ 0.5427946448326111, -0.18026433885097504, 0.052145954221487045, 0.12476282566785812, 0.056912194937467575, 2.784680128097534, 0.08500000089406967, 0, 0 ]
[ -2.625389337539673, 1.9389578104019165, 4.372868061065674, 0.23217558860778809, 0.2216930389404297, 0.18254607915878296 ]
3.2
96
0
96
0
[ 0.563935399055481, -0.1930549442768097, 0.030421458184719086, 0.03146706894040108, -0.06040145829319954, 2.800672769546509, 499.58489990234375, 487.8803405761719, 475.3973083496094, 30, 30, 30, 0.7947095632553101 ]
[ 0.5436466336250305, -0.18140128254890442, 0.047960154712200165, 0.12209566682577133, 0.05393031984567642, 2.787038564682007, 0.08500000089406967, 0, 0 ]
[ -3.676457405090332, 2.5653903484344482, 4.294756889343262, 0.2591763734817505, 0.3108219504356384, 0.2849080264568329 ]
3.233333
97
0
97
0
[ 0.5636436939239502, -0.19325292110443115, 0.030164167284965515, 0.02921263873577118, -0.06545817852020264, 2.7972805500030518, 499.4404296875, 487.83465576171875, 477.2329406738281, 30, 30, 30, 0.9162274599075317 ]
[ 0.5447178483009338, -0.18242469429969788, 0.04457853361964226, 0.1197674572467804, 0.051371511071920395, 2.788855791091919, 0.08500000089406967, 1.899999976158142, 0 ]
[ -2.9881091117858887, 2.4766461849212646, 3.5872302055358887, 0.2631343901157379, 0.24356672167778015, 0.2336006909608841 ]
3.266667
98
0
98
0
[ 0.5633090138435364, -0.19363734126091003, 0.03004908189177513, 0.02813059464097023, -0.06897972524166107, 2.797454357147217, 499.3431396484375, 487.32196044921875, 479.75994873046875, 30, 30, 30, 0.9474470615386963 ]
[ 0.5458630919456482, -0.18328578770160675, 0.04170489311218262, 0.11731468141078949, 0.048856522887945175, 2.7902779579162598, 0.08312775194644928, 1.600000023841858, 0 ]
[ -3.4733409881591797, 2.309695243835449, 4.692522048950195, 0.26338475942611694, 0.28723716735839844, 0.23620712757110596 ]
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": 5317,
    "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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            ],
            "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,
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                "has_audio": false
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        },
        "observation.images.behind_rgb": {
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            "shape": [
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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.environment_state": {
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            "names": [
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                "ft_fy",
                "ft_fz",
                "ft_tx",
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                "ft_tz"
            ],
            "shape": [
                6
            ]
        },
        "timestamp": {
            "dtype": "float32",
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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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