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float32
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7.05
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int64
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141
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[ -0.015171434730291367, -0.044830359518527985, 0.004020310938358307, -2.303569793701172, -0.11121094226837158, 2.2633979320526123, 0.9135064482688904, 1 ]
3.15
63
0
63
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ -0.013488844968378544, -0.04581727460026741, 0.00522854458540678, -2.307277202606201, -0.11125141382217407, 2.2748727798461914, 0.9139559268951416, 1 ]
3.2
64
0
64
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ -0.012724052183330059, -0.04837260767817497, 0.005918730515986681, -2.3115341663360596, -0.11654011905193329, 2.2839651107788086, 0.9132843613624573, 1 ]
3.25
65
0
65
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ -0.013976624235510826, -0.053043339401483536, 0.004835924133658409, -2.3185815811157227, -0.12631376087665558, 2.2905633449554443, 0.9076189398765564, 1 ]
3.3
66
0
66
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ -0.014401094987988472, -0.05573754757642746, 0.004554461687803268, -2.324131488800049, -0.13441190123558044, 2.2956278324127197, 0.9013214707374573, 1 ]
3.35
67
0
67
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ -0.013692992739379406, -0.05904143303632736, 0.004643203690648079, -2.332258939743042, -0.13680429756641388, 2.299649238586426, 0.8929259777069092, 1 ]
3.4
68
0
68
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ -0.012074938975274563, -0.060773566365242004, 0.005118671339005232, -2.335528612136841, -0.13510902225971222, 2.297844886779785, 0.8866159915924072, 1 ]
3.45
69
0
69
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ -0.00994343962520361, -0.06095161661505699, 0.006085875444114208, -2.3332793712615967, -0.12704157829284668, 2.2921700477600098, 0.8848036527633667, 1 ]
3.5
70
0
70
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ -0.0081210071220994, -0.06268478184938431, 0.007837292738258839, -2.331815004348755, -0.12401324510574341, 2.287369966506958, 0.89091956615448, 1 ]
3.55
71
0
71
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ -0.008757533505558968, -0.06686606258153915, 0.006826164200901985, -2.3316991329193115, -0.11412782967090607, 2.2812304496765137, 0.8931152820587158, 1 ]
3.6
72
0
72
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ -0.010015563108026981, -0.07379073649644852, 0.004539707209914923, -2.3365228176116943, -0.10148844122886658, 2.280870199203491, 0.8923501372337341, 1 ]
3.65
73
0
73
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ -0.010842454619705677, -0.07865161448717117, 0.0027304040268063545, -2.3380491733551025, -0.09315311908721924, 2.2808878421783447, 0.8864535093307495, 1 ]
3.7
74
0
74
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ -0.011029819957911968, -0.07952193170785904, 0.001406976254656911, -2.3352203369140625, -0.08696299046278, 2.2802534103393555, 0.8707689642906189, 1 ]
3.75
75
0
75
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ -0.01174857746809721, -0.07838292419910431, 0.00024388267775066197, -2.328385591506958, -0.0847877636551857, 2.2714011669158936, 0.8624484539031982, 1 ]
3.8
76
0
76
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ -0.011806285008788109, -0.07965461909770966, 0.00010890179692069069, -2.3239877223968506, -0.08272740244865417, 2.2558794021606445, 0.8608931303024292, 1 ]
3.85
77
0
77
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ -0.01018556673079729, -0.08215895295143127, 0.000543139292858541, -2.3227856159210205, -0.0748312696814537, 2.245575189590454, 0.8611122369766235, 1 ]
3.9
78
0
78
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ -0.008423618040978909, -0.08110968768596649, 0.001419294741936028, -2.318341016769409, -0.06836820393800735, 2.238482713699341, 0.8643352389335632, 1 ]
3.95
79
0
79
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ -0.007488697301596403, -0.07714018225669861, 0.0016842298209667206, -2.310394048690796, -0.06264642626047134, 2.231717348098755, 0.865947425365448, 1 ]
4
80
0
80
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ -0.00743192620575428, -0.07506398111581802, 0.001178152859210968, -2.304565906524658, -0.049188222736120224, 2.2265684604644775, 0.8667390942573547, 1 ]
4.05
81
0
81
0
[ -0.0005142856971360743, 0.0365142859518528, -0.003257142845541239, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
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4.1
82
0
82
0
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4.15
83
0
83
0
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4.2
84
0
84
0
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4.25
85
0
85
0
[ 0, 0, 0, 0, -0.001928569981828332, 0, 0.8999979496002197, 0, 0, 0 ]
[ 0.015543599613010883, -0.09185831993818283, 0.027047445997595787, -2.320307970046997, -0.04933849349617958, 2.2418363094329834, 0.9145766496658325, 1 ]
4.3
86
0
86
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ 0.021408993750810623, -0.09741455316543579, 0.036092955619096756, -2.328303575515747, -0.06269824504852295, 2.2512199878692627, 0.9334094524383545, 1 ]
4.35
87
0
87
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
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4.4
88
0
88
0
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[ 0.029798971489071846, -0.10714267939329147, 0.0459737665951252, -2.340884208679199, -0.07127935439348221, 2.2601661682128906, 0.9445568919181824, 1 ]
4.45
89
0
89
0
[ 0.0006857143016532063, 0, -0.05999999865889549, 0.040513888001441956, -0.005577318370342255, 0.004755597095936537, 0.8990578055381775, 0, 0, 0 ]
[ 0.031434316188097, -0.10876835882663727, 0.04715554043650627, -2.344531536102295, -0.07075334340333939, 2.265245199203491, 0.9399252533912659, 1 ]
4.5
90
0
90
0
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4.55
91
0
91
0
[ 0.0025714286603033543, -0.009257142432034016, -0.05999999865889549, 0.052042052149772644, 0.000185865254024975, 0.0032089005690068007, 0.8984883427619934, 0, 0, 0 ]
[ 0.033781979233026505, -0.10517934709787369, 0.05131799355149269, -2.3663456439971924, -0.07658243924379349, 2.3025002479553223, 0.9416769742965698, 1 ]
4.6
92
0
92
0
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4.65
93
0
93
0
[ 0, -0.01080000028014183, -0.05999999865889549, 0, 0, 0.023140307515859604, 0.8997024893760681, 0, 0, 0 ]
[ 0.03322216123342514, -0.08365871757268906, 0.050627700984478, -2.39913272857666, -0.0742015391588211, 2.370767116546631, 0.9367404580116272, 1 ]
4.7
94
0
94
0
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[ 0.03273894265294075, -0.06606261432170868, 0.04974803328514099, -2.4113078117370605, -0.07331887632608414, 2.405123710632324, 0.929682731628418, 1 ]
4.75
95
0
95
0
[ 0, 0, -0.0001714285754133016, -0.0012857138644903898, 0, 0, 0.8999990820884705, 0, 0, 0 ]
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4.8
96
0
96
0
[ 0, 0, 0, 0, 0, 0, 0.8999999761581421, 0, 0, 0 ]
[ 0.03031916730105877, -0.021812207996845245, 0.04726632311940193, -2.4303479194641113, -0.08103590458631516, 2.4723408222198486, 0.9111546874046326, 1 ]
4.85
97
0
97
0
[ 0.0006857143016532063, 0, -0.003257142845541239, -0.031493570655584335, 0, 0, 0.899448812007904, 0, 0, 0 ]
[ 0.029281822964549065, -0.0018823628779500723, 0.04622914269566536, -2.4350345134735107, -0.0874134823679924, 2.4966845512390137, 0.907491147518158, 1 ]
4.9
98
0
98
0
[ 0.0001714285754133016, 0, -0.003771428484469652, -0.028270641341805458, 0.02441350929439068, 0.0007675344822928309, 0.8992242217063904, 0, 0, 0 ]
[ 0.02958560176193714, 0.013816691935062408, 0.04637965187430382, -2.4352779388427734, -0.09814644604921341, 2.5161209106445312, 0.9091747999191284, 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": 1,
    "total_frames": 142,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:1"
    },
    "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": {
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            "names": [
                "r_x",
                "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"
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            "shape": [
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        "observation.images.cam_1_wrist": {
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                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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        },
        "observation.images.cam_5_wrist": {
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            "info": {
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                "video.codec": "h264",
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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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                "video.codec": "h264",
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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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