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observation.state
list
action
list
observation.velocity
list
observation.effort
list
observation.images.cam_high
imagewidth (px)
640
640
observation.images.cam_low
imagewidth (px)
640
640
observation.images.cam_left_wrist
imagewidth (px)
640
640
observation.images.cam_right_wrist
imagewidth (px)
640
640
timestamp
float32
0
12.7
frame_index
int64
0
636
episode_index
int64
0
6
index
int64
0
3.13k
task_index
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[ 0, -293.2099914550781, -322.8000183105469, -2.690000057220459, -201.75, -2.690000057220459, 29.59000015258789, -2.690000057220459, -112.9800033569336, -914.6000366210938, -43.040000915527344, -142.57000732421875, -5.380000114440918, 0 ]
1.82
91
0
91
0
[ 0.0951068103313446, -0.02761165425181389, 0.8881748914718628, 0.21475732326507568, -0.3942330777645111, 0.019941750913858414, 0.06216391548514366, -0.23930101096630096, -0.6703495979309082, 0.9970875382423401, -0.0920388475060463, 0.03681553900241852, -0.0076699042692780495, 0.07215020805597305 ]
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[ 0, 0.023980824276804924, 0, -0.023980824276804924, -0.2637890577316284, 0, 0, 0, 0.1918465942144394, -0.07194247096776962, -0.1918465942144394, 0, 0, 0 ]
[ -10.760000228881836, -320.1100158691406, -309.3500061035156, -5.380000114440918, -236.72000122070312, -8.069999694824219, 24.21000099182129, -8.069999694824219, -75.31999969482422, -909.2200317382812, -37.65999984741211, -99.52999877929688, -5.380000114440918, 0 ]
1.84
92
0
92
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "aloha",
    "total_episodes": 29,
    "total_frames": 13290,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:29"
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    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
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                    "right_shoulder",
                    "right_elbow",
                    "right_forearm_roll",
                    "right_wrist_angle",
                    "right_wrist_rotate",
                    "right_gripper",
                    "left_waist",
                    "left_shoulder",
                    "left_elbow",
                    "left_forearm_roll",
                    "left_wrist_angle",
                    "left_wrist_rotate",
                    "left_gripper"
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        "action": {
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                    "left_shoulder",
                    "left_elbow",
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                    "right_gripper",
                    "left_waist",
                    "left_shoulder",
                    "left_elbow",
                    "left_forearm_roll",
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                    "right_gripper",
                    "left_waist",
                    "left_shoulder",
                    "left_elbow",
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                    "left_wrist_angle",
                    "left_wrist_rotate",
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    }
}

Citation

BibTeX:

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