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observation.state
list | action
list | observation.velocities
list | timestamp
float32 0
3.57
| frame_index
int64 0
107
| episode_index
int64 0
29
| index
int64 0
2.78k
| 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": "franka research 3",
"total_episodes": 26,
"total_frames": 10719,
"total_tasks": 1,
"total_videos": 26,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:26"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"robot_arm_0",
"robot_arm_1",
"robot_arm_2",
"robot_arm_3",
"robot_arm_4",
"robot_arm_5",
"robot_arm_6",
"gripper"
]
}
},
"action": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"robot_arm_0",
"robot_arm_1",
"robot_arm_2",
"robot_arm_3",
"robot_arm_4",
"robot_arm_5",
"robot_arm_6",
"gripper"
]
}
},
"observation.velocities": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"robot_arm_0",
"robot_arm_1",
"robot_arm_2",
"robot_arm_3",
"robot_arm_4",
"robot_arm_5",
"robot_arm_6",
"gripper"
]
}
},
"observation.images.main": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"rgb"
],
"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,
"has_audio": false
}
},
"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
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