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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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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
58
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2.95
59
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3
60
0
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3.05
61
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3.1
62
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3.15
63
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3.2
64
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3.25
65
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3.3
66
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3.35
67
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3.4
68
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3.45
69
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3.5
70
0
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3.55
71
0
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3.6
72
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3.65
73
0
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3.95
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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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4.2
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4.25
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4.3
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4.35
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4.65
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4.7
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4.8
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4.85
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4.9
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[ 0.36243918538093567, 1.2753195762634277, 0.037445519119501114, -0.5279107689857483, -0.45545637607574463, 1.2089123725891113, 0.27228429913520813 ]
[ 0.00230788835324347, -0.0026299699675291777 ]
[ -0.14196428656578064, 0.7071428298950195, -0.09910714626312256, -0.0503571443259716, -0.05249999836087227, -0.03857142850756645, 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": "iiwa",
    "total_episodes": 408,
    "total_frames": 49587,
    "total_tasks": 10,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:408"
    },
    "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": [
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            ],
            "names": {
                "motors": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6"
                ]
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        },
        "observation.states.gripper_state": {
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            "shape": [
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            "names": {
                "motors": [
                    "gripper",
                    "gripper"
                ]
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        },
        "observation.images.frontview_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.sideview_image": {
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            "shape": [
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                256,
                3
            ],
            "names": [
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                "width",
                "rgb"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "action": {
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            "names": {
                "motors": [
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                    "axis_angle3",
                    "gripper"
                ]
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        },
        "timestamp": {
            "dtype": "float32",
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            ],
            "names": null
        },
        "frame_index": {
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                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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