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float32
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24.9
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int64
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[ -0.8033333420753479, 23.176666259765625, 50.649410247802734, -10.375, -86.1385726928711, -1.1549999713897705, 45.08000183105469, -0.0729999989271164, -0.09865576773881912, 0.059413157403469086, 0.4481574594974518, 1.6701045036315918, 0.2948991060256958, -2.3850488662719727, 347.6940002441406, -6.923999786376953, 155.9340057373047, 2112.040283203125, 1435.9346923828125, 1971.59375 ]
2.8
84
0
84
0
[ -1.46048104763031, 23.232322692871094, 51.219512939453125, -10.783463478088379, -85.7978286743164, -1.1148561239242554, 40.78675079345703 ]
[ -1.1440000534057617, 23.176666259765625, 51.06705856323242, -10.52299976348877, -85.9800033569336, -1.1549999713897705, 45.08000183105469, -0.035999998450279236, -0.09638534486293793, 0.05122997611761093, 0.4395493268966675, 1.6292295455932617, 0.2521153688430786, -2.276879072189331, 346.3219909667969, -4.047999858856201, 154.38299560546875, 2162.497802734375, 1431.414306640625, 2028.3343505859375 ]
2.833333
85
0
85
0
[ -1.46048104763031, 23.232322692871094, 51.219512939453125, -10.841283798217773, -85.7978286743164, -1.1148561239242554, 33.81642532348633 ]
[ -1.343999981880188, 23.176666259765625, 51.181175231933594, -10.52299976348877, -85.84285736083984, -1.1549999713897705, 44.52000045776367, -0.09000000357627869, -0.09734590351581573, 0.04594653099775314, 0.4360859990119934, 1.6296314001083374, 0.2369634509086609, -2.2106895446777344, 345.9519958496094, -2.2360000610351562, 153.86500549316406, 2183.179931640625, 1429.7562255859375, 2054.1826171875 ]
2.866667
86
0
86
0
[ -1.46048104763031, 23.232322692871094, 51.40018081665039, -10.783463478088379, -85.7978286743164, -1.1148561239242554, 23.878536224365234 ]
[ -1.4286667108535767, 23.176666259765625, 51.181175231933594, -10.607000350952148, -85.84285736083984, -1.1549999713897705, 42.41999816894531, -0.0989999994635582, -0.09876909852027893, 0.04327176883816719, 0.4370439350605011, 1.6188616752624512, 0.24384038150310516, -2.1834568977355957, 345.9410095214844, -1.5850000381469727, 153.8560028076172, 2181.24267578125, 1429.1802978515625, 2053.135498046875 ]
2.9
87
0
87
0
[ -1.46048104763031, 23.232322692871094, 51.40018081665039, -10.436542510986328, -85.7978286743164, -1.1148561239242554, 17.736370086669922 ]
[ -1.4286667108535767, 23.176666259765625, 51.181175231933594, -10.89799976348877, -85.84285736083984, -1.1549999713897705, 37.310001373291016, -0.12700000405311584, -0.10018979012966156, 0.041408661752939224, 0.44032999873161316, 1.5816807746887207, 0.26806485652923584, -2.166431188583374, 345.8890075683594, -1.9809999465942383, 153.82400512695312, 2174.662841796875, 1427.190673828125, 2042.052734375 ]
2.933333
88
0
88
0
[ -1.5463917255401611, 23.232322692871094, 51.40018081665039, -10.436542510986328, -85.7978286743164, -1.1148561239242554, 18.081436157226562 ]
[ -1.4286667108535767, 23.176666259765625, 51.332942962646484, -10.89799976348877, -85.84285736083984, -1.1549999713897705, 31.780000686645508, -1.0989999771118164, -0.09711802005767822, 0.04261429235339165, 0.4368849992752075, 1.5685406923294067, 0.24947552382946014, -2.1697938442230225, 345.3819885253906, -2, 153.33200073242188, 2188.90478515625, 1426.230712890625, 2056.137451171875 ]
2.966667
89
0
89
0
[ -1.5463917255401611, 23.232322692871094, 51.40018081665039, -10.783463478088379, -85.7978286743164, -1.1667098999023438, 19.185646057128906 ]
[ -1.4286667108535767, 23.176666259765625, 51.332942962646484, -10.567999839782715, -85.84285736083984, -1.1549999713897705, 31.56999969482422, -1.0429999828338623, -0.09557799994945526, 0.04468318819999695, 0.43310442566871643, 1.611177682876587, 0.22181189060211182, -2.1887075901031494, 345.4419860839844, -1.5509999990463257, 153.3679962158203, 2196.514404296875, 1428.447265625, 2068.87841796875 ]
3
90
0
90
0
[ -1.5463917255401611, 23.232322692871094, 51.40018081665039, -10.841283798217773, -85.7978286743164, -1.1667098999023438, 19.323671340942383 ]
[ -1.5146666765213013, 23.176666259765625, 51.332942962646484, -10.590999603271484, -85.84285736083984, -1.1549999713897705, 31.56999969482422, -1.0399999618530273, -0.09666808694601059, 0.042380619794130325, 0.43337008357048035, 1.6081974506378174, 0.22371429204940796, -2.164839506149292, 345.44000244140625, -0.8050000071525574, 153.36599731445312, 2195.97314453125, 1428.3076171875, 2070.222412109375 ]
3.033333
91
0
91
0
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[ -1.5146666765213013, 23.176666259765625, 51.332942962646484, -10.590999603271484, -85.84285736083984, -1.1549999713897705, 31.56999969482422, -1.0460000038146973, -0.09666808694601059, 0.042380619794130325, 0.43337008357048035, 1.6081974506378174, 0.22371429204940796, -2.164839506149292, 345.44000244140625, -0.8050000071525574, 153.36599731445312, 2195.97314453125, 1428.3076171875, 2070.222412109375 ]
3.066667
92
0
92
0
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[ -1.5146666765213013, 23.176666259765625, 51.332942962646484, -10.711000442504883, -85.84285736083984, -1.1549999713897705, 31.56999969482422, -1.0429999828338623, -0.09722308814525604, 0.04163546487689018, 0.4347510039806366, 1.592670202255249, 0.23370303213596344, -2.1578633785247803, 345.41900634765625, -0.9679999947547913, 153.35299682617188, 2193.1806640625, 1427.4873046875, 2065.579833984375 ]
3.1
93
0
93
0
[ -1.6323024034500122, 24.663299560546875, 51.67118453979492, -10.783463478088379, -83.45864868164062, -1.6852476596832275, 19.323671340942383 ]
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3.133333
94
0
94
0
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[ -1.5980000495910645, 23.258888244628906, 51.61058807373047, -10.795000076293945, -85.84285736083984, -1.5266666412353516, 31.56999969482422, -1.0399999618530273, -0.08957043290138245, 0.042916424572467804, 0.4300517141819, 1.5513687133789062, 0.07901505380868912, -2.135606527328491, 344.5199890136719, -0.3630000054836273, 152.0050048828125, 2179.375244140625, 1415.060546875, 2051.79150390625 ]
3.166667
95
0
95
0
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[ -1.5980000495910645, 24.044445037841797, 51.61058807373047, -10.795000076293945, -85.34428405761719, -1.644444465637207, 31.56999969482422, -1.0410000085830688, -0.05730245262384415, 0.05429941788315773, 0.4332009553909302, 1.5099139213562012, -0.05670705437660217, -2.081343650817871, 344.79998779296875, -0.29899999499320984, 147.20899963378906, 2263.412841796875, 1402.7210693359375, 2134.851806640625 ]
3.2
96
0
96
0
[ -1.6323024034500122, 25.336700439453125, 51.67118453979492, -10.841283798217773, -73.2665023803711, -1.6852476596832275, 19.392684936523438 ]
[ -1.5980000495910645, 25.14444351196289, 51.61058807373047, -10.795000076293945, -80.73857116699219, -1.7016667127609253, 31.56999969482422, -1.0449999570846558, -0.02158343233168125, 0.030616462230682373, 0.4164706766605377, 1.5994422435760498, -0.1783183217048645, -1.574257731437683, 344.4440002441406, 0.19200000166893005, 136.2030029296875, 2525.05517578125, 1349.3140869140625, 2395.726318359375 ]
3.233333
97
0
97
0
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[ -1.5980000495910645, 25.29888916015625, 51.61058807373047, -10.9350004196167, -78.0999984741211, -1.7016667127609253, 31.56999969482422, -1.0420000553131104, -0.010253837332129478, 0.006315034814178944, 0.4070444405078888, 1.683457851409912, -0.18127401173114777, -1.2838352918624878, 343.90399169921875, 0.3009999990463257, 132.48800659179688, 2603.786865234375, 1319.870361328125, 2472.433349609375 ]
3.266667
98
0
98
0
[ -1.6323024034500122, 25, 51.67118453979492, -10.899104118347168, -68.75521850585938, -1.6852476596832275, 19.392684936523438 ]
[ -1.5980000495910645, 25.29888916015625, 51.61058807373047, -10.9350004196167, -75.69571685791016, -1.7016667127609253, 31.56999969482422, -1.0429999828338623, 0.0019012439297512174, -0.015769248828291893, 0.398446649312973, 1.7826597690582275, -0.222293421626091, -1.029463529586792, 343.32501220703125, 0.5770000219345093, 129.89300537109375, 2658.45068359375, 1294.266357421875, 2527.4287109375 ]
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": "v3.0",
    "robot_type": "piper_full",
    "total_episodes": 5,
    "total_frames": 3068,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": {
            "dtype": "float32",
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos"
            ],
            "shape": [
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        },
        "observation.state": {
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            "names": [
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                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos",
                "gripper.tau",
                "ee.x",
                "ee.y",
                "ee.z",
                "ee.roll",
                "ee.pitch",
                "ee.yaw",
                "ee_measured.x",
                "ee_measured.y",
                "ee_measured.z",
                "ee_measured.roll",
                "ee_measured.pitch",
                "ee_measured.yaw"
            ],
            "shape": [
                20
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        },
        "observation.images.image": {
            "dtype": "video",
            "shape": [
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
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        },
        "observation.images.image2": {
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            "shape": [
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            "names": [
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                "width",
                "channels"
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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