Datasets:
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joint.state list | joint.action list | end.state list | end.action list | timestamp float32 0 26.9 | frame_index int64 0 269 | episode_index int64 0 76 | index int64 0 20.7k | task_index int64 0 3 |
|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "ur5",
"total_episodes": 77,
"total_frames": 20720,
"total_tasks": 4,
"total_videos": 154,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:77"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"image": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "mpeg4",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"wrist_image": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "mpeg4",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"joint.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"gripper"
]
},
"joint.action": {
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"shape": [
7
],
"names": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
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"gripper"
]
},
"end.state": {
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"shape": [
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],
"names": [
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"y",
"z",
"dx",
"dy",
"dz",
"gripper"
]
},
"end.action": {
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"shape": [
7
],
"names": [
"x",
"y",
"z",
"dx",
"dy",
"dz",
"gripper"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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],
"names": null
},
"task_index": {
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"shape": [
1
],
"names": null
}
}
}
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