Datasets:
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observation.state list | action list | timestamp float32 0 7.98 | frame_index int64 0 399 | episode_index int64 0 99 | index int64 0 33.6k | 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": "v3.0",
"robot_type": "ur7e_rh5dg2",
"total_episodes": 100,
"total_frames": 33626,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
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},
"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": {
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"shape": [
3,
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640
],
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],
"info": {
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"video.codec": "av1",
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"video.is_depth_map": false,
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}
},
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3,
480,
640
],
"names": [
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],
"info": {
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},
"observation.state": {
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"shape": [
19
],
"names": [
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"shoulder_lift_joint",
"elbow_joint",
"wrist_1_joint",
"wrist_2_joint",
"wrist_3_joint",
"right_thumb_yaw_joint",
"right_thumb_mcp_joint",
"right_thumb_dip_joint",
"right_index_yaw_joint",
"right_index_mcp_joint",
"right_index_pip_joint",
"right_middle_yaw_joint",
"right_middle_mcp_joint",
"right_middle_pip_joint",
"right_ring_mcp_joint",
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"right_pinky_pip_joint"
]
},
"action": {
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19
],
"names": [
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"ee_dy",
"ee_dz",
"ee_rx",
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"right_thumb_yaw_joint",
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"right_thumb_dip_joint",
"right_index_yaw_joint",
"right_index_mcp_joint",
"right_index_pip_joint",
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"right_middle_mcp_joint",
"right_middle_pip_joint",
"right_ring_mcp_joint",
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]
},
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}
}
}
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