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observation.state.joints
list
observation.state.eef_pose
list
observation.state.gripper
float32
0.01
1
observation.state
list
action
list
timestamp
float32
0
478
frame_index
int64
0
2.39k
episode_index
int64
0
37
index
int64
0
58k
task_index
int64
0
0
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1
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1.8
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1
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2.2
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3
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3.8
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1
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4
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1
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4.2
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1
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4.4
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1
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4.6
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1
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4.8
24
0
24
0
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1
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5
25
0
25
0
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1
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5.2
26
0
26
0
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1
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5.4
27
0
27
0
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1
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5.6
28
0
28
0
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1
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5.8
29
0
29
0
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1
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6
30
0
30
0
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1
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6.2
31
0
31
0
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1
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6.4
32
0
32
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1
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6.6
33
0
33
0
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1
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6.8
34
0
34
0
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1
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7
35
0
35
0
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1
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7.2
36
0
36
0
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1
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7.4
37
0
37
0
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1
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7.6
38
0
38
0
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1
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7.8
39
0
39
0
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1
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8
40
0
40
0
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1
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8.2
41
0
41
0
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1
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8.4
42
0
42
0
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1
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8.6
43
0
43
0
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1
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8.8
44
0
44
0
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1
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9
45
0
45
0
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1
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9.2
46
0
46
0
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1
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9.4
47
0
47
0
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1
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9.6
48
0
48
0
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1
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9.8
49
0
49
0
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1
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10
50
0
50
0
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1
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10.2
51
0
51
0
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1
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10.4
52
0
52
0
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1
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10.6
53
0
53
0
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1
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10.8
54
0
54
0
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1
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11
55
0
55
0
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1
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11.2
56
0
56
0
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1
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11.4
57
0
57
0
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1
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11.6
58
0
58
0
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1
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11.8
59
0
59
0
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1
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12
60
0
60
0
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1
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12.2
61
0
61
0
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1
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12.4
62
0
62
0
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1
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12.6
63
0
63
0
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1
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12.8
64
0
64
0
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1
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13
65
0
65
0
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1
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13.2
66
0
66
0
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1
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13.4
67
0
67
0
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1
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13.6
68
0
68
0
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1
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13.8
69
0
69
0
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1
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14
70
0
70
0
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1
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14.2
71
0
71
0
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1
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14.4
72
0
72
0
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1
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14.6
73
0
73
0
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1
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[ 0.365048885345459, -0.00938462559133768, 0.48616111278533936, 0.045068852603435516, 0.9973166584968567, -0.05188383534550667, 0.025226429104804993 ]
1
[ -0.031834088265895844, -0.6234073042869568, 0.0202453825622797, -2.530817985534668, -0.08603768050670624, 1.9534729719161987, 0.11951632797718048, 1 ]
[ 0.3637400269508362, -0.024793049320578575, 0.4789091944694519, 3.1196095943450928, -0.03739920258522034, -0.12818124890327454, 0, 1 ]
19.799999
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": "generic_robot",
    "total_episodes": 38,
    "total_frames": 57990,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 5,
    "splits": {
        "train": "0:38"
    },
    "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.main": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 5,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 5,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state.joints": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "axes": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6"
                ]
            }
        },
        "observation.state.eef_pose": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "axes": [
                    "x",
                    "y",
                    "z",
                    "qw",
                    "qx",
                    "qy",
                    "qz"
                ]
            }
        },
        "observation.state.gripper": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": {
                "axes": [
                    "gripper"
                ]
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "axes": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6",
                    "gripper"
                ]
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "axes": [
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                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6",
                    "gripper"
                ]
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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