Datasets:
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action list | observation.state list | timestamp float32 0 1.68k | frame_index int64 0 16.8k | episode_index int64 0 0 | index int64 0 16.8k | 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": "ur5e_aic",
"total_episodes": 1,
"total_frames": 16753,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:1"
},
"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": {
"action": {
"dtype": "float32",
"names": [
"linear.x",
"linear.y",
"linear.z",
"angular.x",
"angular.y",
"angular.z"
],
"shape": [
6
]
},
"observation.state": {
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"names": [
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"tcp_pose.position.y",
"tcp_pose.position.z",
"tcp_pose.orientation.x",
"tcp_pose.orientation.y",
"tcp_pose.orientation.z",
"tcp_pose.orientation.w",
"tcp_velocity.linear.x",
"tcp_velocity.linear.y",
"tcp_velocity.linear.z",
"tcp_velocity.angular.x",
"tcp_velocity.angular.y",
"tcp_velocity.angular.z",
"tcp_error.x",
"tcp_error.y",
"tcp_error.z",
"tcp_error.rx",
"tcp_error.ry",
"tcp_error.rz",
"joint_positions.0",
"joint_positions.1",
"joint_positions.2",
"joint_positions.3",
"joint_positions.4",
"joint_positions.5",
"joint_positions.6",
"wrench.force.x",
"wrench.force.y",
"wrench.force.z",
"wrench.torque.x",
"wrench.torque.y",
"wrench.torque.z",
"fts_tare_offset.force.x",
"fts_tare_offset.force.y",
"fts_tare_offset.force.z",
"fts_tare_offset.torque.x",
"fts_tare_offset.torque.y",
"fts_tare_offset.torque.z",
"max_force_magnitude",
"insertion_event",
"teleop.approach_done",
"teleop.approach_dist_x",
"teleop.approach_dist_y",
"teleop.approach_dist_z",
"task.target_module",
"task.port_name",
"episode_number",
"port_center.left_camera.nic_card_mount_0.sfp_port_0.u",
"port_center.left_camera.nic_card_mount_0.sfp_port_0.v",
"port_center.left_camera.nic_card_mount_0.sfp_port_0.dist",
"port_center.left_camera.nic_card_mount_0.sfp_port_1.u",
"port_center.left_camera.nic_card_mount_0.sfp_port_1.v",
"port_center.left_camera.nic_card_mount_0.sfp_port_1.dist",
"port_center.left_camera.nic_card_mount_1.sfp_port_0.u",
"port_center.left_camera.nic_card_mount_1.sfp_port_0.v",
"port_center.left_camera.nic_card_mount_1.sfp_port_0.dist",
"port_center.left_camera.nic_card_mount_1.sfp_port_1.u",
"port_center.left_camera.nic_card_mount_1.sfp_port_1.v",
"port_center.left_camera.nic_card_mount_1.sfp_port_1.dist",
"port_center.left_camera.nic_card_mount_2.sfp_port_0.u",
"port_center.left_camera.nic_card_mount_2.sfp_port_0.v",
"port_center.left_camera.nic_card_mount_2.sfp_port_0.dist",
"port_center.left_camera.nic_card_mount_2.sfp_port_1.u",
"port_center.left_camera.nic_card_mount_2.sfp_port_1.v",
"port_center.left_camera.nic_card_mount_2.sfp_port_1.dist",
"port_center.left_camera.nic_card_mount_3.sfp_port_0.u",
"port_center.left_camera.nic_card_mount_3.sfp_port_0.v",
"port_center.left_camera.nic_card_mount_3.sfp_port_0.dist",
"port_center.left_camera.nic_card_mount_3.sfp_port_1.u",
"port_center.left_camera.nic_card_mount_3.sfp_port_1.v",
"port_center.left_camera.nic_card_mount_3.sfp_port_1.dist",
"port_center.left_camera.nic_card_mount_4.sfp_port_0.u",
"port_center.left_camera.nic_card_mount_4.sfp_port_0.v",
"port_center.left_camera.nic_card_mount_4.sfp_port_0.dist",
"port_center.left_camera.nic_card_mount_4.sfp_port_1.u",
"port_center.left_camera.nic_card_mount_4.sfp_port_1.v",
"port_center.left_camera.nic_card_mount_4.sfp_port_1.dist",
"port_center.left_camera.sc_port_0.sc_port_base.u",
"port_center.left_camera.sc_port_0.sc_port_base.v",
"port_center.left_camera.sc_port_0.sc_port_base.dist",
"port_center.left_camera.sc_port_1.sc_port_base.u",
"port_center.left_camera.sc_port_1.sc_port_base.v",
"port_center.left_camera.sc_port_1.sc_port_base.dist",
"port_center.center_camera.nic_card_mount_0.sfp_port_0.u",
"port_center.center_camera.nic_card_mount_0.sfp_port_0.v",
"port_center.center_camera.nic_card_mount_0.sfp_port_0.dist",
"port_center.center_camera.nic_card_mount_0.sfp_port_1.u",
"port_center.center_camera.nic_card_mount_0.sfp_port_1.v",
"port_center.center_camera.nic_card_mount_0.sfp_port_1.dist",
"port_center.center_camera.nic_card_mount_1.sfp_port_0.u",
"port_center.center_camera.nic_card_mount_1.sfp_port_0.v",
"port_center.center_camera.nic_card_mount_1.sfp_port_0.dist",
"port_center.center_camera.nic_card_mount_1.sfp_port_1.u",
"port_center.center_camera.nic_card_mount_1.sfp_port_1.v",
"port_center.center_camera.nic_card_mount_1.sfp_port_1.dist",
"port_center.center_camera.nic_card_mount_2.sfp_port_0.u",
"port_center.center_camera.nic_card_mount_2.sfp_port_0.v",
"port_center.center_camera.nic_card_mount_2.sfp_port_0.dist",
"port_center.center_camera.nic_card_mount_2.sfp_port_1.u",
"port_center.center_camera.nic_card_mount_2.sfp_port_1.v",
"port_center.center_camera.nic_card_mount_2.sfp_port_1.dist",
"port_center.center_camera.nic_card_mount_3.sfp_port_0.u",
"port_center.center_camera.nic_card_mount_3.sfp_port_0.v",
"port_center.center_camera.nic_card_mount_3.sfp_port_0.dist",
"port_center.center_camera.nic_card_mount_3.sfp_port_1.u",
"port_center.center_camera.nic_card_mount_3.sfp_port_1.v",
"port_center.center_camera.nic_card_mount_3.sfp_port_1.dist",
"port_center.center_camera.nic_card_mount_4.sfp_port_0.u",
"port_center.center_camera.nic_card_mount_4.sfp_port_0.v",
"port_center.center_camera.nic_card_mount_4.sfp_port_0.dist",
"port_center.center_camera.nic_card_mount_4.sfp_port_1.u",
"port_center.center_camera.nic_card_mount_4.sfp_port_1.v",
"port_center.center_camera.nic_card_mount_4.sfp_port_1.dist",
"port_center.center_camera.sc_port_0.sc_port_base.u",
"port_center.center_camera.sc_port_0.sc_port_base.v",
"port_center.center_camera.sc_port_0.sc_port_base.dist",
"port_center.center_camera.sc_port_1.sc_port_base.u",
"port_center.center_camera.sc_port_1.sc_port_base.v",
"port_center.center_camera.sc_port_1.sc_port_base.dist",
"port_center.right_camera.nic_card_mount_0.sfp_port_0.u",
"port_center.right_camera.nic_card_mount_0.sfp_port_0.v",
"port_center.right_camera.nic_card_mount_0.sfp_port_0.dist",
"port_center.right_camera.nic_card_mount_0.sfp_port_1.u",
"port_center.right_camera.nic_card_mount_0.sfp_port_1.v",
"port_center.right_camera.nic_card_mount_0.sfp_port_1.dist",
"port_center.right_camera.nic_card_mount_1.sfp_port_0.u",
"port_center.right_camera.nic_card_mount_1.sfp_port_0.v",
"port_center.right_camera.nic_card_mount_1.sfp_port_0.dist",
"port_center.right_camera.nic_card_mount_1.sfp_port_1.u",
"port_center.right_camera.nic_card_mount_1.sfp_port_1.v",
"port_center.right_camera.nic_card_mount_1.sfp_port_1.dist",
"port_center.right_camera.nic_card_mount_2.sfp_port_0.u",
"port_center.right_camera.nic_card_mount_2.sfp_port_0.v",
"port_center.right_camera.nic_card_mount_2.sfp_port_0.dist",
"port_center.right_camera.nic_card_mount_2.sfp_port_1.u",
"port_center.right_camera.nic_card_mount_2.sfp_port_1.v",
"port_center.right_camera.nic_card_mount_2.sfp_port_1.dist",
"port_center.right_camera.nic_card_mount_3.sfp_port_0.u",
"port_center.right_camera.nic_card_mount_3.sfp_port_0.v",
"port_center.right_camera.nic_card_mount_3.sfp_port_0.dist",
"port_center.right_camera.nic_card_mount_3.sfp_port_1.u",
"port_center.right_camera.nic_card_mount_3.sfp_port_1.v",
"port_center.right_camera.nic_card_mount_3.sfp_port_1.dist",
"port_center.right_camera.nic_card_mount_4.sfp_port_0.u",
"port_center.right_camera.nic_card_mount_4.sfp_port_0.v",
"port_center.right_camera.nic_card_mount_4.sfp_port_0.dist",
"port_center.right_camera.nic_card_mount_4.sfp_port_1.u",
"port_center.right_camera.nic_card_mount_4.sfp_port_1.v",
"port_center.right_camera.nic_card_mount_4.sfp_port_1.dist",
"port_center.right_camera.sc_port_0.sc_port_base.u",
"port_center.right_camera.sc_port_0.sc_port_base.v",
"port_center.right_camera.sc_port_0.sc_port_base.dist",
"port_center.right_camera.sc_port_1.sc_port_base.u",
"port_center.right_camera.sc_port_1.sc_port_base.v",
"port_center.right_camera.sc_port_1.sc_port_base.dist"
],
"shape": [
155
]
},
"observation.images.left_camera": {
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"shape": [
256,
288,
3
],
"names": [
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],
"info": {
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"video.codec": "av1",
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"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.center_camera": {
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"shape": [
256,
288,
3
],
"names": [
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],
"info": {
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"video.codec": "av1",
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"video.fps": 10,
"video.channels": 3,
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}
},
"observation.images.right_camera": {
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256,
288,
3
],
"names": [
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],
"info": {
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"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
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1
],
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},
"frame_index": {
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],
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},
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},
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],
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},
"task_index": {
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],
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}
}
}
Citation
BibTeX:
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