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ys903
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xarm6_pick_place_50_episodes_red_block_long_v1

Tasks:
Robotics
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10K - 100K
Tags:
LeRobot
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observation.state
list
timestamp
float32
0
16.7
frame_index
int64
0
501
episode_index
int64
0
49
index
int64
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21k
task_index
int64
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2.7
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2.9
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3
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92
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[ -0.02761165425181389, -0.2561908960342407, -0.4863065779209137, 0.021475577726960182, 0.6750020384788513, -0.07671453058719635, 0.028836628422141075 ]
[ -0.027527285739779472, -0.30950745940208435, -0.5082288980484009, 0.019828619435429573, 0.7471656203269958, -0.07701733708381653, 0.021250000223517418 ]
3.1
93
0
93
0
[ -0.02761165425181389, -0.25161904096603394, -0.4847572445869446, 0.02147572860121727, 0.6734370589256287, -0.0751805528998375, 0.02885744534432888 ]
[ -0.02752920240163803, -0.30259689688682556, -0.5061043500900269, 0.019828619435429573, 0.7357662320137024, -0.07728195190429688, 0.021250000223517418 ]
3.133333
94
0
94
0
[ -0.02761165425181389, -0.25005465745925903, -0.484741747379303, 0.02147573046386242, 0.6719027757644653, -0.07516521215438843, 0.028857653960585594 ]
[ -0.02753112092614174, -0.2953603267669678, -0.5038781762123108, 0.019849712029099464, 0.7245643138885498, -0.07744494080543518, 0.02250000089406967 ]
3.166667
95
0
95
0
[ -0.029130294919013977, -0.2485203891992569, -0.48474159836769104, 0.02147573046386242, 0.6734060645103455, -0.0736464187502861, 0.028857655823230743 ]
[ -0.02753112092614174, -0.2889195382595062, -0.5016826391220093, 0.01997051201760769, 0.7153680920600891, -0.07747945189476013, 0.02500000037252903 ]
3.2
96
0
96
0
[ -0.02762684039771557, -0.24698640406131744, -0.48474159836769104, 0.022994371131062508, 0.6719024181365967, -0.07363123446702957, 0.03093927539885044 ]
[ -0.027533037588000298, -0.28111541271209717, -0.49923405051231384, 0.02016226015985012, 0.7055678963661194, -0.07747945189476013, 0.02500000037252903 ]
3.233333
97
0
97
0
[ -0.027611805126070976, -0.24697105586528778, -0.48474159836769104, 0.023009559139609337, 0.6718873977661133, -0.07363107800483704, 0.030960092321038246 ]
[ -0.027556046843528748, -0.27410128712654114, -0.49688705801963806, 0.020342502743005753, 0.697838544845581, -0.07733180373907089, 0.02500000037252903 ]
3.266667
98
0
98
0
[ -0.029130296781659126, -0.24697090685367584, -0.48474159836769104, 0.023009710013866425, 0.6718872785568237, -0.07363107800483704, 0.03096029907464981 ]
[ -0.02765575610101223, -0.26774483919143677, -0.49459952116012573, 0.020557260140776634, 0.6914917230606079, -0.07688311487436295, 0.02500000037252903 ]
3.3
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": "UFACTORY Robot",
    "total_episodes": 50,
    "total_frames": 20984,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": [
                "J1.pos",
                "J2.pos",
                "J3.pos",
                "J4.pos",
                "J5.pos",
                "J6.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "J1.pos",
                "J2.pos",
                "J3.pos",
                "J4.pos",
                "J5.pos",
                "J6.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                640,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 640,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                640,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 640,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            "names": null
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        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

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