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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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2.05
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2.4
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2.45
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2.5
50
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50
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2.55
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2.6
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2.65
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2.7
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2.75
55
0
55
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2.8
56
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2.85
57
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2.9
58
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2.95
59
0
59
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3
60
0
60
0
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3.05
61
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3.1
62
0
62
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3.15
63
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63
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3.2
64
0
64
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3.25
65
0
65
0
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3.3
66
0
66
0
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3.35
67
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3.4
68
0
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3.45
69
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3.5
70
0
70
0
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3.55
71
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3.6
72
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3.65
73
0
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3.75
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3.8
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3.85
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3.9
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3.95
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4
80
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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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4.4
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4.45
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4.5
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4.55
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4.6
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4.65
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4.7
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4.75
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4.8
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4.85
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[ -0.03048066608607769, 0.09352114051580429, 0.9804497957229614, 2.9085731506347656, -0.6383805871009827, 1.1432446241378784 ]
[ -0.00008415765478275716, -0.8331056237220764, -0.12460455298423767, 2.0471351146698, -0.06572682410478592, -0.37353411316871643, -0.9533570408821106 ]
[ 0.0004393230483401567, -0.0005604215548373759 ]
[ -0.23839285969734192, 0.2839285731315613, -0.6937500238418579, 0.010714286006987095, -0.020357143133878708, -0.21857142448425293, 1 ]
4.9
98
0
98
0
[ -0.03199179843068123, 0.09237419068813324, 0.9735633730888367, 2.8998160362243652, -0.6665008664131165, 1.1402007341384888, 0.0004495935863815248, -0.0005501603591255844 ]
[ -0.03199179843068123, 0.09237419068813324, 0.9735633730888367, 2.8998160362243652, -0.6665008664131165, 1.1402007341384888 ]
[ -0.00008288804383482784, -0.8160426616668701, -0.12227486819028854, 2.0577118396759033, -0.03200950846076012, -0.39803367853164673, -0.9667625427246094 ]
[ 0.0004495935863815248, -0.0005501603591255844 ]
[ -0.31607142090797424, 0.23303571343421936, -0.7875000238418579, 0.007499999832361937, -0.02250000089406967, -0.20999999344348907, 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": "sawyer",
    "total_episodes": 420,
    "total_frames": 53266,
    "total_tasks": 10,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:420"
    },
    "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": [
                7
            ],
            "names": {
                "motors": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6"
                ]
            }
        },
        "observation.states.gripper_state": {
            "dtype": "float32",
            "shape": [
                2
            ],
            "names": {
                "motors": [
                    "gripper",
                    "gripper"
                ]
            }
        },
        "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": {
            "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
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        },
        "action": {
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            "names": {
                "motors": [
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                    "z",
                    "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
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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