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1.24
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1.28
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1.3
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1.32
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[ 0.03242659196257591, -0.05606217682361603, 0.04890948534011841, 0.9901546835899353, 0.13057227432727814, -0.05048302561044693, -0.11731749027967453, 0.9707083702087402, 0.20967835187911987, -0.0002675559662748128, -0.00020919569942634553 ]
[ 1.1736064564615845e-8, -1.4907861611845874e-8, 0.00011842077219625935, 1, -4.75391637166922e-9, 6.98550906008677e-9, -4.75391637166922e-9, 1, 2.2042165426228166e-8, -0.0002675559662748128, -0.00020919569942634553 ]
1.98
99
0
99
0
[ 0.032490503042936325, -0.056163445115089417, 0.048975419253110886, 0.9901546835899353, 0.13057227432727814, -0.05048301815986633, -0.11731749027967453, 0.9707083106040955, 0.20967838168144226, -0.0002675559662748128, -0.00020919569942634553 ]
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "openarm_gripette_sim",
    "total_episodes": 30,
    "total_frames": 10875,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 50,
    "splits": {
        "train": "0:30"
    },
    "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": {
        "observation.images.cam0": {
            "dtype": "video",
            "shape": [
                3,
                972,
                1296
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 972,
                "video.width": 1296,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                11
            ],
            "names": [
                "dx",
                "dy",
                "dz",
                "dr6d_0",
                "dr6d_1",
                "dr6d_2",
                "dr6d_3",
                "dr6d_4",
                "dr6d_5",
                "proximal",
                "distal"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                11
            ],
            "names": [
                "dx_start",
                "dy_start",
                "dz_start",
                "r6d_rel_0",
                "r6d_rel_1",
                "r6d_rel_2",
                "r6d_rel_3",
                "r6d_rel_4",
                "r6d_rel_5",
                "proximal",
                "distal"
            ]
        }
    }
}

Citation

BibTeX:

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