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[ 0.2028668075799942, 0.3057236671447754, 0.26212626695632935, -0.43605124950408936, -0.19228067994117737, -0.8674355149269104, -0.36798909306526184, 0.9197953939437866, -0.006377667188644409, 0.27372992038726807, -0.25043347477912903, 0.26402753591537476, -0.4428630769252777, -0.004203528165817261, -0.8740501403808594, 0.25436556339263916, 0.9504878520965576, -0.1479949951171875, 0.996453046798706, -0.026152104139328003, -0.022352978587150574, 0.023846596479415894, 0.9973954558372498, 0.014016211032867432 ]
[ 0.3506319224834442, 0.26426249742507935, 0.29997938871383667, -0.07183172553777695, -0.0993267223238945, -0.9924587607383728, -0.5972898602485657, 0.801173746585846, -0.036952268332242966, 0.3506699502468109, -0.26468342542648315, 0.3002477288246155, -0.06708507984876633, 0.10317032039165497, -0.9923988580703735, 0.5962298512458801, 0.8016594052314758, 0.043036460876464844, 0.9999959468841553, -0.002780164359137416, -0.0005750980926677585, 0.002780599519610405, 0.9999958276748657, 0.0007570694433525205 ]
0
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This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "ergocub",
    "total_episodes": 1,
    "total_frames": 1,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:1"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "names": [
                "left_hand.position.x",
                "left_hand.position.y",
                "left_hand.position.z",
                "left_hand.orientation.d1",
                "left_hand.orientation.d2",
                "left_hand.orientation.d3",
                "left_hand.orientation.d4",
                "left_hand.orientation.d5",
                "left_hand.orientation.d6",
                "right_hand.position.x",
                "right_hand.position.y",
                "right_hand.position.z",
                "right_hand.orientation.d1",
                "right_hand.orientation.d2",
                "right_hand.orientation.d3",
                "right_hand.orientation.d4",
                "right_hand.orientation.d5",
                "right_hand.orientation.d6",
                "head.orientation.d1",
                "head.orientation.d2",
                "head.orientation.d3",
                "head.orientation.d4",
                "head.orientation.d5",
                "head.orientation.d6"
            ],
            "shape": [
                24
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_hand.position.x",
                "left_hand.position.y",
                "left_hand.position.z",
                "left_hand.orientation.d1",
                "left_hand.orientation.d2",
                "left_hand.orientation.d3",
                "left_hand.orientation.d4",
                "left_hand.orientation.d5",
                "left_hand.orientation.d6",
                "right_hand.position.x",
                "right_hand.position.y",
                "right_hand.position.z",
                "right_hand.orientation.d1",
                "right_hand.orientation.d2",
                "right_hand.orientation.d3",
                "right_hand.orientation.d4",
                "right_hand.orientation.d5",
                "right_hand.orientation.d6",
                "head.orientation.d1",
                "head.orientation.d2",
                "head.orientation.d3",
                "head.orientation.d4",
                "head.orientation.d5",
                "head.orientation.d6"
            ],
            "shape": [
                24
            ]
        },
        "observation.images.egocentric": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "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

BibTeX:

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