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float32
0
20
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int64
0
400
episode_index
int64
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23
index
int64
0
8.84k
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int64
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
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2.5
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2.55
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2.6
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2.65
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2.7
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2.75
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2.8
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2.85
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2.9
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2.95
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3
60
0
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3.05
61
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3.1
62
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3.15
63
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3.2
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3.25
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3.3
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3.35
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3.4
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3.45
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3.5
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3.55
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3.6
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3.65
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3.7
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3.75
75
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3.8
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3.85
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3.9
78
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3.95
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4
80
0
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4.05
81
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4.1
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4.15
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4.2
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4.25
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0
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[ -0.8458567261695862, -0.2625487148761749, 0.15727919340133667, -2.154080867767334, 0.29331862926483154, 1.9104878902435303, -0.3654801845550537, 1 ]
4.3
86
0
86
0
[ -0.0007309842621907592, 0.00296570872887969, -0.010675344616174698, 0.003185378620401025, 0.041705526411533356, -0.01920139044523239, 0.9989403486251831, 0.8999999761581421, 0, 0 ]
[ -0.8429689407348633, -0.2572498619556427, 0.15712350606918335, -2.154608964920044, 0.29373499751091003, 1.9109787940979004, -0.3648562431335449, 1 ]
4.35
87
0
87
0
[ 0.004260240588337183, 0.0002125118626281619, -0.024133168160915375, -0.012592972256243229, 0.029567088931798935, 0.01650754176080227, 0.9993471503257751, 0.8999999761581421, 0, 0 ]
[ -0.8415460586547852, -0.2531000077724457, 0.15715493261814117, -2.154486656188965, 0.29370221495628357, 1.9126218557357788, -0.36376842856407166, 1 ]
4.4
88
0
88
0
[ 0.01185664813965559, 0.010991105809807777, -0.017503997310996056, -0.012283910065889359, 0.010946526192128658, 0.007310819812119007, 0.9998378753662109, 0.8999999761581421, 0, 0 ]
[ -0.8397302627563477, -0.24951063096523285, 0.15751881897449493, -2.153886556625366, 0.2898751497268677, 1.9124177694320679, -0.3578144907951355, 1 ]
4.45
89
0
89
0
[ 0.008957240730524063, 0.006541787646710873, -0.015421992167830467, 0.01788080297410488, 0.02008734457194805, -0.005391444079577923, 0.9996237754821777, 0.8999999761581421, 0, 0 ]
[ -0.8373669385910034, -0.24704575538635254, 0.15754470229148865, -2.154444456100464, 0.28567254543304443, 1.9132879972457886, -0.3558887243270874, 1 ]
4.5
90
0
90
0
[ 0.011600825004279613, -0.015614945441484451, -0.023838084191083908, -0.016393855214118958, 0.002783274743705988, 0.02199903316795826, 0.999619722366333, 0.8999999761581421, 0, 0 ]
[ -0.8336692452430725, -0.24469341337680817, 0.1576610654592514, -2.15559720993042, 0.2836291790008545, 1.9166338443756104, -0.35263392329216003, 1 ]
4.55
91
0
91
0
[ 0.017591513693332672, 0.02501646801829338, -0.022970685735344887, -0.01376150269061327, 0.012585212476551533, 0.01442587748169899, 0.9997220039367676, 0.8999999761581421, 0, 0 ]
[ -0.8309890627861023, -0.24068641662597656, 0.1572941690683365, -2.154660224914551, 0.28224048018455505, 1.9177308082580566, -0.3497054874897003, 1 ]
4.6
92
0
92
0
[ 0.009352866560220718, -0.009557616896927357, -0.008257750421762466, -0.011368467472493649, 0.020531801506876945, 0.003886578604578972, 0.9997169971466064, 0.8999999761581421, 0, 0 ]
[ -0.8289809823036194, -0.23617848753929138, 0.15734364092350006, -2.154904842376709, 0.2793281078338623, 1.9227029085159302, -0.34974732995033264, 1 ]
4.65
93
0
93
0
[ -0.01474837213754654, 0.013513494282960892, -0.014825446531176567, 0.006965335924178362, 0.016091229394078255, 0.011446564458310604, 0.9997807145118713, 0.8999999761581421, 0, 0 ]
[ -0.8254514932632446, -0.2329901158809662, 0.15765069425106049, -2.155630350112915, 0.2757236361503601, 1.9271219968795776, -0.3490969240665436, 1 ]
4.7
94
0
94
0
[ 0.018890781328082085, -0.009843030013144016, -0.021777989342808723, -0.01121037732809782, 0.029424825683236122, -0.010632828809320927, 0.9994475841522217, 0.8999999761581421, 0, 0 ]
[ -0.8232686519622803, -0.23003770411014557, 0.15703576803207397, -2.1541504859924316, 0.27136918902397156, 1.9272935390472412, -0.34716367721557617, 1 ]
4.75
95
0
95
0
[ 0.011190736666321754, 0.004477406851947308, -0.014415574260056019, 0.005225552245974541, 0.014599057845771313, 0.024198023602366447, 0.9995869398117065, 0.8999999761581421, 0, 0 ]
[ -0.8219530582427979, -0.22988010942935944, 0.15727460384368896, -2.1579952239990234, 0.26993244886398315, 1.9272303581237793, -0.3469271957874298, 1 ]
4.8
96
0
96
0
[ 0.03196922689676285, -0.006480095908045769, -0.008693566545844078, 0.019754670560359955, 0.01213504932820797, 0.010848267935216427, 0.9996723532676697, 0.8999999761581421, 0, 0 ]
[ -0.8202674984931946, -0.22521981596946716, 0.1572256088256836, -2.155747175216675, 0.26563870906829834, 1.9279943704605103, -0.34353744983673096, 1 ]
4.85
97
0
97
0
[ 0.008227809332311153, -0.007883683778345585, -0.030909007415175438, -0.014744104817509651, 0.012699688784778118, 0.017293719574809074, 0.9996610879898071, 0.8999999761581421, 0, 0 ]
[ -0.8171712756156921, -0.21752417087554932, 0.15731929242610931, -2.152228832244873, 0.2640317380428314, 1.9284695386886597, -0.3426692485809326, 1 ]
4.9
98
0
98
0
[ 0.01515702623873949, -0.011697975918650627, -0.021121731027960777, -0.0027572938706725836, 0.012732533738017082, 0.006356892175972462, 0.999894917011261, 0.8999999761581421, 0, 0 ]
[ -0.8149951100349426, -0.20751266181468964, 0.15700455009937286, -2.1445367336273193, 0.2632008492946625, 1.9277695417404175, -0.3416631519794464, 1 ]
4.95
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": "single_arm_franka",
    "total_episodes": 24,
    "total_frames": 8840,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:24"
    },
    "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": [
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                "r_y",
                "r_z",
                "r_qx",
                "r_qy",
                "r_qz",
                "r_qw",
                "r_gripper",
                "kp",
                "kd"
            ],
            "shape": [
                10
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "r_joint_1",
                "r_joint_2",
                "r_joint_3",
                "r_joint_4",
                "r_joint_5",
                "r_joint_6",
                "r_joint_7",
                "r_gripper"
            ],
            "shape": [
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        },
        "observation.images.cam_3_wrist": {
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            "names": [
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            "info": {
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                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
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        },
        "observation.images.cam_4_wrist": {
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            "names": [
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            "info": {
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                "video.codec": "h264",
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                "video.is_depth_map": false,
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        },
        "observation.images.cam_2_scene": {
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            "names": [
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                "channels"
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            "info": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        },
        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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