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exterior_image_1_left
imagewidth (px)
224
224
exterior_image_2_left
imagewidth (px)
224
224
wrist_image_left
imagewidth (px)
224
224
joint_position
list
gripper_position
float32
-0.08
1.15
actions
list
timestamp
float32
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48.3
frame_index
int64
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724
episode_index
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0
4
index
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0
3.62k
task_index
int64
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30
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2.6
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2.8
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[ -0.03388166427612305, 0.1465451568365097, 0.04851221665740013, 0.03996133431792259, 0.042284127324819565, 0.11979102343320847, -0.013475417159497738, -0.00000804934370535193 ]
6.133333
92
0
92
0
[ 1.0804120302200317, 0.9353197813034058, -0.45265355706214905, -1.3495540618896484, 0.43178683519363403, 2.1581058502197266, 2.8892173767089844 ]
-0.000008
[ -0.03390312194824219, 0.14654873311519623, 0.048515792936086655, 0.04001140221953392, 0.04230737313628197, 0.11984824389219284, -0.013475417159497738, -0.000007944177013996523 ]
6.2
93
0
93
0
[ 1.0781517028808594, 0.9450896978378296, -0.449419230222702, -1.3468859195709229, 0.4346076548099518, 2.1660969257354736, 2.8883190155029297 ]
-0.000008
[ -0.033910274505615234, 0.1465451568365097, 0.04851221665740013, 0.04003285989165306, 0.0423198901116848, 0.11989115923643112, -0.013475417159497738, -0.000007847857887099963 ]
6.266667
94
0
94
0
[ 1.0758910179138184, 0.95485919713974, -0.4461851716041565, -1.3442165851593018, 0.4374290704727173, 2.1740899085998535, 2.887420654296875 ]
-0.000008
[ -0.033910274505615234, 0.14653442800045013, 0.04850864037871361, 0.040047165006399155, 0.042325254529714584, 0.11990546435117722, -0.013489722274243832, -0.000007764530892018229 ]
6.333333
95
0
95
0
[ 1.0736303329467773, 0.9646278023719788, -0.4429514408111572, -1.3415465354919434, 0.44025081396102905, 2.1820836067199707, 2.886521577835083 ]
-0.000008
[ -0.033910274505615234, 0.14652012288570404, 0.04850148782134056, 0.0400543175637722, 0.042327042669057846, 0.11990546435117722, -0.013475417159497738, -0.000007694525265833363 ]
6.4
96
0
96
0
[ 1.0713694095611572, 0.9743956327438354, -0.43971818685531616, -1.3388758897781372, 0.44307267665863037, 2.190077543258667, 2.885622978210449 ]
-0.000008
[ -0.03391742706298828, 0.14650939404964447, 0.048494335263967514, 0.04006147012114525, 0.04232883080840111, 0.11990546435117722, -0.013489722274243832, -0.000007640416697540786 ]
6.466667
97
0
97
0
[ 1.069108486175537, 0.9841625094413757, -0.4364854097366333, -1.3362051248550415, 0.44589459896087646, 2.1980717182159424, 2.8847239017486572 ]
-0.000008
[ -0.03391742706298828, 0.14649151265621185, 0.04848718270659447, 0.040068622678518295, 0.04232883080840111, 0.11991976946592331, -0.013489722274243832, -0.000007600216576975072 ]
6.533333
98
0
98
0
[ 1.066847324371338, 0.9939283132553101, -0.4332531690597534, -1.3335338830947876, 0.4487166106700897, 2.206066131591797, 2.8838253021240234 ]
-0.000008
[ -0.033910274505615234, 0.14648078382015228, 0.04847824200987816, 0.040068622678518295, 0.04233061894774437, 0.11991976946592331, -0.013489722274243832, -0.000007575972176709911 ]
6.6
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": "panda",
    "total_episodes": 5,
    "total_frames": 3190,
    "total_tasks": 5,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:5"
    },
    "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": {
        "exterior_image_1_left": {
            "dtype": "image",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "exterior_image_2_left": {
            "dtype": "image",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "wrist_image_left": {
            "dtype": "image",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "joint_position": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint_position"
            ]
        },
        "gripper_position": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper_position"
            ]
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "actions"
            ]
        },
        "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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