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float32
0
95.4
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int64
0
2.86k
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int64
0
19
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int64
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38.9k
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[ -0.10320000350475311, 0.27630001306533813, 3.432499885559082, -0.005499999970197678, 0.30309998989105225, 0.22269999980926514, -2.1719000339508057, 0 ]
3.2
96
0
96
0
[ -0.1031000018119812, 0.2754000127315521, 3.431299924850464, -0.0017000000225380063, 0.30309998989105225, 0.2223999947309494, -2.1726999282836914, 0 ]
[ -0.1031000018119812, 0.2754000127315521, 3.431299924850464, -0.0017000000225380063, 0.30309998989105225, 0.2223999947309494, -2.1726999282836914, 0 ]
3.233333
97
0
97
0
[ -0.1031000018119812, 0.27459999918937683, 3.4302000999450684, 0.0017000000225380063, 0.30309998989105225, 0.22210000455379486, -2.173099994659424, 0 ]
[ -0.1031000018119812, 0.27459999918937683, 3.4302000999450684, 0.0017000000225380063, 0.30309998989105225, 0.22210000455379486, -2.173099994659424, 0 ]
3.266667
98
0
98
0
[ -0.10300000011920929, 0.2727000117301941, 3.427999973297119, 0.008999999612569809, 0.30320000648498535, 0.2223999947309494, -2.1735000610351562, 0 ]
[ -0.10300000011920929, 0.2727000117301941, 3.427999973297119, 0.008999999612569809, 0.30320000648498535, 0.2223999947309494, -2.1735000610351562, 0 ]
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": "ros2",
    "total_episodes": 20,
    "total_frames": 38872,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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": [
                "joint1.pos",
                "joint2.pos",
                "joint3.pos",
                "joint4.pos",
                "joint5.pos",
                "joint6.pos",
                "joint7.pos",
                "gripper.pos"
            ],
            "shape": [
                8
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint1.pos",
                "joint2.pos",
                "joint3.pos",
                "joint4.pos",
                "joint5.pos",
                "joint6.pos",
                "joint7.pos",
                "drive_joint.pos"
            ],
            "shape": [
                8
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                512,
                512,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 512,
                "video.width": 512,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                512,
                512,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 512,
                "video.width": 512,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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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