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observation.state
list
action
list
timestamp
float32
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8.43
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int64
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253
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4.97k
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3
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3.1
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[ 0.0012449650093913078, -0.0003940463066101074, -0.0030315518379211426, -0.004137460608035326, -0.001976288389414549, -0.0006100262398831546, 0, 0, 0, 0, 0, 0, 1, 0 ]
3.133333
94
0
94
0
[ -0.01567716896533966, 0.7153154611587524, 0.2915169596672058, 0.02461938001215458, 0.9982501864433289, -0.0365590900182724, 0.039419449865818024, 0.2535484731197357, 0.6659060120582581, 0.39727166295051575, 0.10711462050676346, 0.994123101234436, 0.0018438455881550908, 0.01556816603988409,...
[ 0.0010328907519578934, -0.0003027915954589844, -0.002689540386199951, -0.0031884931959211826, -0.001957216067239642, 0.0001245509774889797, 0, 0, 0, 0, 0, 0, 1, 0 ]
3.166667
95
0
95
0
[ -0.01459401473402977, 0.7148038148880005, 0.28888845443725586, 0.025349212810397148, 0.9981216788291931, -0.03826073557138443, 0.040578920394182205, 0.2535502016544342, 0.6659037470817566, 0.39727136492729187, 0.10711725056171417, 0.9941228032112122, 0.0018404207658022642, 0.01556910388171...
[ 0.0008864970877766609, -0.00024646520614624023, -0.002347797155380249, -0.002651680028066039, -0.0017121225828304887, 0.00021126618958078325, 0, 0, 0, 0, 0, 0, 1, 0 ]
3.2
96
0
96
0
[ -0.01305791549384594, 0.7146244049072266, 0.2872993052005768, 0.02655838429927826, 0.9979959726333618, -0.039183441549539566, 0.04199199378490448, 0.253547728061676, 0.6659035086631775, 0.3972713053226471, 0.1071157231926918, 0.9941229820251465, 0.00183880387339741, 0.015568860806524754, ...
[ 0.0007120566442608833, -0.00022113323211669922, -0.0018422901630401611, -0.0022246737498790026, -0.0014387485571205616, -0.00027004987350665033, 0, 0, 0, 0, 0, 0, 1, 0 ]
3.233333
97
0
97
0
[ -0.012619176879525185, 0.7148675322532654, 0.2857499420642853, 0.027125880122184753, 0.9979130625724792, -0.040051739662885666, 0.042773548513650894, 0.2535470426082611, 0.6659045219421387, 0.3972713053226471, 0.10711914300918579, 0.9941226243972778, 0.001839980948716402, 0.015564638189971...
[ 0.0006156899034976959, -0.00022423267364501953, -0.0012487173080444336, -0.0023407191038131714, -0.0014699014136567712, -0.0015988018130883574, 0, 0, 0, 0, 0, 0, 1, 0 ]
3.266667
98
0
98
0
[ -0.012036475352942944, 0.7142293453216553, 0.2845243215560913, 0.028406446799635887, 0.9978040456771851, -0.0415511429309845, 0.04305459186434746, 0.2535475194454193, 0.6659067273139954, 0.3972718417644501, 0.10711749643087387, 0.9941228032112122, 0.0018414597725495696, 0.01556479372084140...
[ 0.000602194108068943, -0.00044476985931396484, -0.0008376538753509521, -0.002234116429463029, 0.00009216532635036856, -0.004069539252668619, 0, 0, 0, 0, 0, 0, 0.2273503541946411, 0 ]
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": null,
    "total_episodes": 47,
    "total_frames": 4966,
    "total_tasks": 1,
    "total_videos": 141,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:47"
    },
    "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": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                32
            ],
            "names": [
                "tcp_left_pos_x",
                "tcp_left_pos_y",
                "tcp_left_pos_z",
                "tcp_left_quat_x",
                "tcp_left_quat_y",
                "tcp_left_quat_z",
                "tcp_left_quat_w",
                "tcp_right_pos_x",
                "tcp_right_pos_y",
                "tcp_right_pos_z",
                "tcp_right_quat_x",
                "tcp_right_quat_y",
                "tcp_right_quat_z",
                "tcp_right_quat_w",
                "gripper_left_0",
                "gripper_left_1",
                "gripper_right_0",
                "gripper_right_1",
                "last_command_left_0",
                "last_command_left_1",
                "last_command_left_2",
                "last_command_left_3",
                "last_command_left_4",
                "last_command_left_5",
                "last_command_left_6",
                "last_command_right_0",
                "last_command_right_1",
                "last_command_right_2",
                "last_command_right_3",
                "last_command_right_4",
                "last_command_right_5",
                "last_command_right_6"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "delta_tcp_left_x",
                "delta_tcp_left_y",
                "delta_tcp_left_z",
                "delta_tcp_left_rot_x",
                "delta_tcp_left_rot_y",
                "delta_tcp_left_rot_z",
                "delta_tcp_right_x",
                "delta_tcp_right_y",
                "delta_tcp_right_z",
                "delta_tcp_right_rot_x",
                "delta_tcp_right_rot_y",
                "delta_tcp_right_rot_z",
                "gripper_left",
                "gripper_right"
            ]
        },
        "observation.images.rgb_static": {
            "dtype": "video",
            "shape": [
                640,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 640,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.rgb_left": {
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            ],
            "names": [
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                "width",
                "channel"
            ],
            "info": {
                "video.height": 640,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.rgb_right": {
            "dtype": "video",
            "shape": [
                640,
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                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 640,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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