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image
image
wrist_image
image
joint_position
sequence
gripper_position
float64
actions
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ 0.5012454390525818, -0.017627812922000885, 0.19321472942829132, 3.038578987121582, 0.021891947835683823, 1.0607327222824097, 0 ]
6.4
96
0
96
0
[ -0.0837697982788086, 0.3232339024543762, 0.05600867420434952, -2.3826546669006348, -0.27698221802711487, 2.762575149536133, -0.8371040225028992 ]
0
[ 0.5008459091186523, -0.02281660959124565, 0.19172044098377228, 3.0408942699432373, 0.02602546662092209, 1.0506466627120972, 0 ]
6.466667
97
0
97
0
[ -0.09257490187883377, 0.323174387216568, 0.055911269038915634, -2.387755870819092, -0.27496790885925293, 2.762589454650879, -0.8403080701828003 ]
0
[ 0.4998784065246582, -0.03004366159439087, 0.18894371390342712, 3.0446157455444336, 0.031789593398571014, 1.0398414134979248, 0 ]
6.533333
98
0
98
0
[ -0.10205475240945816, 0.3231738805770874, 0.05530386045575142, -2.391145944595337, -0.2736510634422302, 2.762594223022461, -0.8430021405220032 ]
0
[ 0.49909207224845886, -0.03606738522648811, 0.1879774034023285, 3.0441713333129883, 0.03952890262007713, 1.0321948528289795, 0 ]
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": "v2.0",
    "robot_type": "panda",
    "total_episodes": 16,
    "total_frames": 6874,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:16"
    },
    "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": {
        "image": {
            "dtype": "image",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "wrist_image": {
            "dtype": "image",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "joint_position": {
            "dtype": "float64",
            "shape": [
                7
            ],
            "names": [
                "joint_position"
            ]
        },
        "gripper_position": {
            "dtype": "float64",
            "shape": [
                1
            ],
            "names": [
                "gripper_position"
            ]
        },
        "actions": {
            "dtype": "float64",
            "shape": [
                7
            ],
            "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
        }
    }
}

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BibTeX:

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