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observation.state
listlengths
8
8
observation.states.ee_state
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observation.states.joint_state
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observation.states.gripper_state
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episode_index
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index
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2
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2.3
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2.5
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2.75
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2.85
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2.9
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2.95
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3
60
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3.05
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3.1
62
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3.15
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3.2
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3.25
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3.3
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3.35
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3.4
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3.45
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3.5
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3.55
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3.6
72
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3.65
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3.7
74
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3.75
75
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3.8
76
0
76
0
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3.85
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0
77
0
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3.9
78
0
78
0
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3.95
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0
79
0
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4
80
0
80
0
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4.05
81
0
81
0
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4.1
82
0
82
0
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4.15
83
0
83
0
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4.2
84
0
84
0
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4.25
85
0
85
0
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4.3
86
0
86
0
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4.35
87
0
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4.4
88
0
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0
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4.45
89
0
89
0
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4.5
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0
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0
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4.55
91
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91
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4.6
92
0
92
0
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4.65
93
0
93
0
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4.7
94
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4.75
95
0
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0
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4.8
96
0
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0
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4.85
97
0
97
0
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4.9
98
0
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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": "ur5e",
    "total_episodes": 104,
    "total_frames": 16014,
    "total_tasks": 10,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:104"
    },
    "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": [
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            "names": {
                "motors": [
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                    "axis_angle3",
                    "gripper",
                    "gripper"
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        },
        "observation.states.ee_state": {
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            "shape": [
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            "names": {
                "motors": [
                    "x",
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                    "z",
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                    "axis_angle2",
                    "axis_angle3"
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        },
        "observation.states.joint_state": {
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            "names": {
                "motors": [
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        },
        "observation.states.gripper_state": {
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            "names": {
                "motors": [
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        },
        "observation.images.frontview_image": {
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            "shape": [
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            "names": [
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            "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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        },
        "observation.images.sideview_image": {
            "dtype": "video",
            "shape": [
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                256,
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            "names": [
                "height",
                "width",
                "rgb"
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            "info": {
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}

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