Search is not available for this dataset
observation.joint_positions sequence | observation.ee_pose sequence | action.ee_pose sequence | action.gripper sequence | pose.cambridge_mug array 2D | timestamp float32 0 0.77 | episode_index int64 0 0 | frame_index int64 0 23 | index int64 0 23 | task_index int64 0 0 |
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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "bifranka",
"total_episodes": 1,
"total_frames": 26,
"total_tasks": 1,
"total_videos": 1,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
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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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"names": [
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"l_joint_3",
"l_joint_4",
"l_joint_5",
"l_joint_6",
"l_joint_7",
"l_gripper_left",
"l_gripper_right",
"r_joint_1",
"r_joint_2",
"r_joint_3",
"r_joint_4",
"r_joint_5",
"r_joint_6",
"r_joint_7",
"r_gripper_left",
"r_gripper_right"
]
},
"observation.ee_pose": {
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14
],
"names": [
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"l_quat_w",
"l_quat_x",
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"l_quat_z",
"r_pos_x",
"r_pos_y",
"r_pos_z",
"r_quat_w",
"r_quat_x",
"r_quat_y",
"r_quat_z"
]
},
"action.ee_pose": {
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"shape": [
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],
"names": [
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"l_matrix_1_0",
"l_matrix_1_1",
"l_matrix_1_2",
"l_matrix_1_3",
"l_matrix_2_0",
"l_matrix_2_1",
"l_matrix_2_2",
"l_matrix_2_3",
"l_matrix_3_0",
"l_matrix_3_1",
"l_matrix_3_2",
"l_matrix_3_3",
"r_matrix_0_0",
"r_matrix_0_1",
"r_matrix_0_2",
"r_matrix_0_3",
"r_matrix_1_0",
"r_matrix_1_1",
"r_matrix_1_2",
"r_matrix_1_3",
"r_matrix_2_0",
"r_matrix_2_1",
"r_matrix_2_2",
"r_matrix_2_3",
"r_matrix_3_0",
"r_matrix_3_1",
"r_matrix_3_2",
"r_matrix_3_3"
]
},
"action.gripper": {
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"shape": [
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"names": [
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},
"rgb.global_0": {
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"names": [
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"info": {
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"video.width": 1280,
"video.channels": 3,
"video.codec": "h264",
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"has_audio": false
}
},
"depth.global_0": {
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"shape": [
720,
1280
],
"names": [
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]
},
"pose.cambridge_mug": {
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"shape": [
4,
4
],
"names": [
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]
},
"timestamp": {
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1
],
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},
"episode_index": {
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"shape": [
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],
"names": null
},
"frame_index": {
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1
],
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},
"index": {
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1
],
"names": null
},
"task_index": {
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"shape": [
1
],
"names": null
}
}
}
Citation
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