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list | observation.state
list | observation.right_eef_pose
list | action.right_eef_pose
list | timestamp
float32 0
26
| frame_index
int64 0
1.56k
| episode_index
int64 0
29
| index
int64 0
37.8k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|---|---|
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "aloha",
"total_episodes": 30,
"total_frames": 37780,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 60,
"splits": {
"train": "0:30"
},
"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": {
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"names": [
"left_waist",
"left_shoulder",
"left_shoulder_shadow",
"left_elbow",
"left_elbow_shadow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_shoulder_shadow",
"right_elbow",
"right_elbow_shadow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
},
"observation.state": {
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18
],
"names": [
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]
},
"observation.right_eef_pose": {
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10
],
"names": [
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]
},
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]
},
"observation.images.cam_azure_kinect.transformed_depth": {
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"shape": [
720,
1280,
1
],
"names": [
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],
"info": "Transformed depth image aligned to color"
},
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},
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},
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},
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},
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},
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1
],
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}
}
}
Citation
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