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float32
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69.4
frame_index
int64
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2.08k
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227
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215k
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[ 0.4442482888698578, -0.04597663879394531, 0.07971662282943726, -0.8236521482467651, 1.8571429252624512, 0.21996928751468658, 0.039508286863565445, 0.03999999910593033 ]
[ 0.0064542293548583984, 0.001697540283203125, 0.0010234713554382324, -0.02907780557870865, -0.024801267310976982, 0.0018559105228632689, 1 ]
3.166667
95
0
95
0
[ 0.4524925649166107, -0.043018341064453125, 0.07566577196121216, -0.7583205699920654, 1.8592098951339722, 0.23972834646701813, 0.03656657412648201, 0.03999999910593033 ]
[ 0.00824427604675293, 0.0029582977294921875, -0.004050850868225098, 0.046091124415397644, 0.0007368766237050295, -0.03569616749882698, 1 ]
3.2
96
0
96
0
[ 0.4524570405483246, -0.04108715057373047, 0.0742030143737793, -0.7274178266525269, 1.8658000230789185, 0.2793305218219757, 0.03760427236557007, 0.03999999910593033 ]
[ -0.00003552436828613281, 0.0019311904907226562, -0.0014627575874328613, 0.03910286724567413, 0.015981897711753845, -0.004325548652559519, 1 ]
3.233333
97
0
97
0
[ 0.4547980725765228, -0.04001426696777344, 0.07317489385604858, -0.7438814640045166, 1.8485889434814453, 0.26392874121665955, 0.03443503752350807, 0.03999369591474533 ]
[ 0.002341032028198242, 0.0010728836059570312, -0.0010281205177307129, -0.01339044701308012, -0.01933402195572853, 0.007437574211508036, 1 ]
3.266667
98
0
98
0
[ 0.45515570044517517, -0.04017448425292969, 0.07276034355163574, -0.7438989281654358, 1.8469617366790771, 0.261674702167511, 0.03236464411020279, 0.03999999910593033 ]
[ 0.00035762786865234375, -0.00016021728515625, -0.0004145503044128418, -0.0009636880131438375, -0.0022282602731138468, -0.0007055625901557505, 1 ]
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": "FrankaPanda",
    "total_episodes": 228,
    "total_frames": 215263,
    "total_tasks": 13,
    "total_videos": 684,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:228"
    },
    "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": {
        "image_left": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "image_right": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "wrist_image": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "state": {
            "dtype": "float32",
            "shape": [
                8
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            "names": [
                "eef_x",
                "eef_y",
                "eef_z",
                "axisangle_x",
                "axisangle_y",
                "axisangle_z",
                "gripper_l",
                "gripper_r"
            ]
        },
        "actions": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "dpos_x",
                "dpos_y",
                "dpos_z",
                "drot_x",
                "drot_y",
                "drot_z",
                "gripper"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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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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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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