Datasets:
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observation.state listlengths 24 24 | action listlengths 19 19 | timestamp float32 0 15.7 | frame_index int64 0 783 | episode_index int64 0 99 | index int64 0 52.6k | task_index int64 0 0 |
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
Merged from:
ICRA2027-CSI/isaaclab-ur7e-ball_top-scripted_shoulderRepisodes 0-49 -> merged episodes 0-49 (50 episodes)ICRA2027-CSI/isaaclab-ur7e-ball_side-scripted_shoulderRepisodes 0-49 -> merged episodes 50-99 (50 episodes)Homepage: [More Information Needed]
Paper: [More Information Needed]
License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 50,
"features": {
"observation.images.third_person": {
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"shape": [
3,
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640
],
"names": [
"channel",
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"width"
],
"info": {
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"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 50,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
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}
},
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3,
480,
640
],
"names": [
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"height",
"width"
],
"info": {
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}
},
"observation.state": {
"dtype": "float32",
"shape": [
24
],
"names": [
"shoulder_pan_joint",
"shoulder_lift_joint",
"elbow_joint",
"wrist_1_joint",
"wrist_2_joint",
"wrist_3_joint",
"right_index_yaw_joint",
"right_middle_yaw_joint",
"right_pinky_mcp_joint",
"right_ring_mcp_joint",
"right_thumb_yaw_joint",
"right_index_mcp_joint",
"right_middle_mcp_joint",
"right_pinky_pip_joint",
"right_ring_pip_joint",
"right_thumb_mcp_joint",
"right_index_pip_joint",
"right_middle_pip_joint",
"right_pinky_dip_joint",
"right_ring_dip_joint",
"right_thumb_pip_joint",
"right_index_dip_joint",
"right_middle_dip_joint",
"right_thumb_dip_joint"
]
},
"action": {
"dtype": "float32",
"shape": [
19
],
"names": [
"action_0",
"action_1",
"action_2",
"action_3",
"action_4",
"action_5",
"action_6",
"action_7",
"action_8",
"action_9",
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]
},
"timestamp": {
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},
"frame_index": {
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],
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},
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},
"index": {
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},
"task_index": {
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],
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}
},
"total_episodes": 100,
"total_frames": 52590,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": "generic",
"splits": {
"train": "0:100"
}
}
Citation
BibTeX:
[More Information Needed]
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