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observation.state
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timestamp
float32
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24.3
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int64
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728
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5.01k
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action.5hz_delta_base
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action.5hz_delta_local
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3
90
0
90
0
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[ -0.010073809884488583, 0.016357414424419403, 0.021643396466970444, -0.0001072973245754838, -0.02232534997165203, 0.07711867988109589, 0 ]
[ -0.22471988201141357, -0.47562089562416077, 0.02423088438808918, 0.17688080668449402, 3.1030080318450928, -0.03150589019060135, 0 ]
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3.033333
91
0
91
0
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3.066667
92
0
92
0
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[ -0.009210680611431599, 0.015144494362175465, 0.019368808716535568, 0.0038943986874073744, -0.023000966757535934, 0.06597426533699036, 0 ]
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3.1
93
0
93
0
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[ -0.00984848104417324, 0.014872326515614986, 0.019121738150715828, 0.0066665890626609325, -0.02692684903740883, 0.06277202814817429, 0 ]
[ -0.22025379538536072, -0.47020354866981506, 0.015783028677105904, 0.21407084167003632, 3.0872325897216797, -0.04491253197193146, 0 ]
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3.133333
94
0
94
0
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3.166667
95
0
95
0
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[ -0.01115616224706173, 0.014112886972725391, 0.018086154013872147, 0.009432338178157806, -0.03346053883433342, 0.05770161375403404, 0 ]
[ -0.21568113565444946, -0.4665859341621399, 0.010387183167040348, 0.23823431134223938, 3.0713117122650146, -0.048398297280073166, 0 ]
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3.2
96
0
96
0
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3.233333
97
0
97
0
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3.266667
98
0
98
0
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3.3
99
0
99
0
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[ -0.009117547422647476, 0.010651602409780025, 0.011866376735270023, 0.007142343558371067, -0.02396124042570591, 0.04049060493707657, 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": "ur5_follower",
    "total_episodes": 10,
    "total_frames": 5015,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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": [
                "ee.x",
                "ee.y",
                "ee.z",
                "ee.wx",
                "ee.wy",
                "ee.wz",
                "ee.gripper_pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow.pos",
                "wrist_1.pos",
                "wrist_2.pos",
                "wrist_3.pos",
                "ee.x",
                "ee.y",
                "ee.z",
                "ee.wx",
                "ee.wy",
                "ee.wz",
                "ee.gripper_pos"
            ],
            "shape": [
                13
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "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",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "action.5hz_delta_base": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "ee.dx_base",
                "ee.dy_base",
                "ee.dz_base",
                "ee.dwx_base",
                "ee.dwy_base",
                "ee.dwz_base",
                "ee.dgripper_pos"
            ]
        },
        "action.5hz_delta_local": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "ee.dx_local",
                "ee.dy_local",
                "ee.dz_local",
                "ee.dwx_local",
                "ee.dwy_local",
                "ee.dwz_local",
                "ee.dgripper_pos"
            ]
        }
    }
}

Citation

BibTeX:

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