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float32
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22.4
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int64
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[ -0.1529923975467682, -0.7377942204475403, -0.6574594974517822, 0.012363872490823269, -0.666668713092804, 0.7452515959739685, 0.13383953273296356, -0.10411299765110016, 0.10800949484109879, 97.72535705566406 ]
[ -0.18098248541355133, -0.7357411980628967, -0.6526332497596741, 0.002896763850003481, -0.6639875173568726, 0.7477380633354187, 0.1276654154062271, -0.10667768120765686, 0.1165626123547554, 96.94960021972656 ]
3.266667
98
0
98
0
[ 91.23046875, 191.162109375, 191.162109375, 171.826171875, 171.73828125, 6.240234375, 17.841796875, -4.482421875, 10.616437911987305, 74.35546875, 92.900390625, 92.900390625, 118.30078125, 118.30078125, -3.69140625, 53.26171875, 65.91796875, 95.88859558105469 ]
[ 91.7578125, 190.72265625, 190.458984375, 172.880859375, 173.14453125, 6.416015625, 18.193359375, -4.5703125, 10.617060661315918, 74.443359375, 92.28515625, 92.197265625, 119.35546875, 119.443359375, -3.779296875, 53.4375, 65.830078125, 96.88289642333984 ]
[ -0.1529923975467682, -0.7377942204475403, -0.6574594974517822, 0.012363872490823269, -0.666668713092804, 0.7452515959739685, 0.13383953273296356, -0.10411299765110016, 0.10800949484109879, 96.88289642333984 ]
[ -0.1824350506067276, -0.7345414161682129, -0.6535796523094177, 0.0024899845011532307, -0.665078341960907, 0.7467694282531738, 0.12717866897583008, -0.10681188106536865, 0.11702437698841095, 95.88859558105469 ]
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": "v2.1",
    "robot_type": "aloha",
    "total_episodes": 21,
    "total_frames": 11835,
    "total_tasks": 1,
    "total_videos": 63,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:21"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "shape": [
                18
            ],
            "names": [
                "left_waist",
                "left_shoulder",
                "left_shoulder_shadow",
                "left_elbow",
                "left_elbow_shadow",
                "left_forearm_roll",
                "left_wrist_angle",
                "left_wrist_rotate",
                "left_gripper",
                "right_waist",
                "right_shoulder",
                "right_shoulder_shadow",
                "right_elbow",
                "right_elbow_shadow",
                "right_forearm_roll",
                "right_wrist_angle",
                "right_wrist_rotate",
                "right_gripper"
            ]
        },
        "observation.state": {
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            "shape": [
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            "names": [
                "left_waist",
                "left_shoulder",
                "left_shoulder_shadow",
                "left_elbow",
                "left_elbow_shadow",
                "left_forearm_roll",
                "left_wrist_angle",
                "left_wrist_rotate",
                "left_gripper",
                "right_waist",
                "right_shoulder",
                "right_shoulder_shadow",
                "right_elbow",
                "right_elbow_shadow",
                "right_forearm_roll",
                "right_wrist_angle",
                "right_wrist_rotate",
                "right_gripper"
            ]
        },
        "observation.right_eef_pose": {
            "dtype": "float32",
            "shape": [
                10
            ],
            "names": [
                "rot_6d_0",
                "rot_6d_1",
                "rot_6d_2",
                "rot_6d_3",
                "rot_6d_4",
                "rot_6d_5",
                "trans_0",
                "trans_1",
                "trans_2",
                "gripper_articulation"
            ]
        },
        "action.right_eef_pose": {
            "dtype": "float32",
            "shape": [
                10
            ],
            "names": [
                "rot_6d_0",
                "rot_6d_1",
                "rot_6d_2",
                "rot_6d_3",
                "rot_6d_4",
                "rot_6d_5",
                "trans_0",
                "trans_1",
                "trans_2",
                "gripper_articulation"
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        },
        "observation.images.cam_azure_kinect.transformed_depth": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
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                "width",
                "channels"
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            "info": "Transformed depth image aligned to color"
        },
        "observation.images.cam_azure_kinect.color": {
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            "names": [
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            "info": "Raw color image"
        },
        "observation.images.cam_wrist": {
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            ],
            "names": [
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            "info": "RGB color image"
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        "timestamp": {
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

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