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observation.state
listlengths
8
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observation.states.ee_state
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observation.states.joint_state
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observation.states.gripper_state
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index
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2
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2.15
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2.2
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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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2.55
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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
58
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2.95
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3
60
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3.05
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3.1
62
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3.15
63
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3.2
64
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3.25
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3.3
66
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3.35
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3.4
68
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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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4
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4.05
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4.1
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4.15
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4.2
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4.3
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4.35
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4.4
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4.45
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4.55
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4.6
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4.65
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4.7
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4.8
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[ -0.04839254543185234, -0.15976472198963165, 1.245318055152893, 3.094985246658325, -0.7060737013816833, -1.078019618988037 ]
[ -0.30612727999687195, 1.0429728031158447, -0.050826672464609146, -0.4215790331363678, 0.2343597710132599, 0.7977286577224731, 0.9937261939048767 ]
[ 0.012251618318259716, -0.012064468115568161 ]
[ 0.5785714387893677, -0.15267856419086456, -0.08303571492433548, 0.027857143431901932, 0.3610714375972748, 0, 1 ]
4.85
97
0
97
0
[ -0.04794463887810707, -0.15971793234348297, 1.2415956258773804, 3.0828328132629395, -0.7185071110725403, -1.08440101146698, 0.012250308878719807, -0.01206577755510807 ]
[ -0.04794463887810707, -0.15971793234348297, 1.2415956258773804, 3.0828328132629395, -0.7185071110725403, -1.08440101146698 ]
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[ 0.012250308878719807, -0.01206577755510807 ]
[ 0.5732142925262451, -0.14464285969734192, -0.1071428582072258, 0.023571427911520004, 0.37285715341567993, 0, 1 ]
4.9
98
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98
0
[ -0.0479501411318779, -0.15952323377132416, 1.2376487255096436, 3.070476770401001, -0.7308451533317566, -1.0896503925323486, 0.012248484417796135, -0.012067602016031742 ]
[ -0.0479501411318779, -0.15952323377132416, 1.2376487255096436, 3.070476770401001, -0.7308451533317566, -1.0896503925323486 ]
[ -0.2950570583343506, 0.9911839962005615, -0.05978523567318916, -0.5367032289505005, 0.22148364782333374, 0.8519792556762695, 0.9957006573677063 ]
[ 0.012248484417796135, -0.012067602016031742 ]
[ 0.5651785731315613, -0.15535713732242584, -0.16339285671710968, 0.018214285373687744, 0.375, 0, 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": "franka",
    "total_episodes": 431,
    "total_frames": 52869,
    "total_tasks": 10,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:431"
    },
    "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": {
        "observation.images.image": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_image": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": {
                "motors": [
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                    "y",
                    "z",
                    "axis_angle1",
                    "axis_angle2",
                    "axis_angle3",
                    "gripper",
                    "gripper"
                ]
            }
        },
        "observation.states.ee_state": {
            "dtype": "float32",
            "shape": [
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            "names": {
                "motors": [
                    "x",
                    "y",
                    "z",
                    "axis_angle1",
                    "axis_angle2",
                    "axis_angle3"
                ]
            }
        },
        "observation.states.joint_state": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": {
                "motors": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6"
                ]
            }
        },
        "observation.states.gripper_state": {
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            "shape": [
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            ],
            "names": {
                "motors": [
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                    "gripper"
                ]
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        },
        "action": {
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            "names": {
                "motors": [
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                    "gripper"
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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
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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