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observation.state
listlengths
8
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observation.states.ee_state
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observation.states.joint_state
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observation.states.gripper_state
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index
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2
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2.55
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2.65
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2.7
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2.75
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2.8
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2.85
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2.9
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2.95
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3
60
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3.05
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3.1
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3.15
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3.2
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3.25
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3.3
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3.35
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3.4
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3.45
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3.5
70
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3.55
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3.6
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3.65
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4
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4.05
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4.1
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4.15
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4.25
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4.3
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4.35
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4.45
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[ -0.7044427394866943, -1.1908026933670044, 1.8846553564071655, -1.8290857076644897, -1.5843019485473633, -2.45439076423645 ]
[ 0.0028386362828314304, -0.002167933853343129 ]
[ -0.19285714626312256, 0, -0.3991071283817291, -0.07500000298023224, -0.05892857164144516, 0, 1 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "ur5e",
    "total_episodes": 2974,
    "total_frames": 421110,
    "total_tasks": 68,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:2974"
    },
    "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.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "motors": [
                    "x",
                    "y",
                    "z",
                    "axis_angle1",
                    "axis_angle2",
                    "axis_angle3",
                    "gripper",
                    "gripper"
                ]
            }
        },
        "observation.states.ee_state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": {
                "motors": [
                    "x",
                    "y",
                    "z",
                    "axis_angle1",
                    "axis_angle2",
                    "axis_angle3"
                ]
            }
        },
        "observation.states.joint_state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": {
                "motors": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5"
                ]
            }
        },
        "observation.states.gripper_state": {
            "dtype": "float32",
            "shape": [
                2
            ],
            "names": {
                "motors": [
                    "gripper",
                    "gripper"
                ]
            }
        },
        "observation.images.image": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_image": {
            "dtype": "video",
            "shape": [
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                256,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
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        },
        "action": {
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            "names": {
                "motors": [
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                    "axis_angle1",
                    "axis_angle2",
                    "axis_angle3",
                    "gripper"
                ]
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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