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Task_twoarms_pickup_conference

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Robotics
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observation.state
sequence
timestamp
float32
0
18.6
frame_index
int64
0
371
episode_index
int64
0
0
index
int64
0
371
task_index
int64
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1.45
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1.5
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1.55
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1.6
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1.65
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1.7
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1.75
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1.8
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1.85
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1.9
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1.95
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2
40
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2.05
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2.1
42
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2.15
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2.2
44
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2.25
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2.3
46
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2.35
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2.4
48
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2.45
49
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2.5
50
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2.55
51
0
51
0
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2.6
52
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52
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2.65
53
0
53
0
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2.7
54
0
54
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2.75
55
0
55
0
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2.8
56
0
56
0
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2.85
57
0
57
0
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2.9
58
0
58
0
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2.95
59
0
59
0
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3
60
0
60
0
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3.05
61
0
61
0
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3.1
62
0
62
0
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3.15
63
0
63
0
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3.2
64
0
64
0
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3.25
65
0
65
0
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3.3
66
0
66
0
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3.35
67
0
67
0
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3.4
68
0
68
0
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3.45
69
0
69
0
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3.5
70
0
70
0
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3.55
71
0
71
0
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3.6
72
0
72
0
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3.65
73
0
73
0
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3.7
74
0
74
0
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3.75
75
0
75
0
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3.8
76
0
76
0
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3.85
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3.9
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78
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3.95
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4
80
0
80
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4.05
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81
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4.1
82
0
82
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4.15
83
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4.2
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4.25
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4.3
86
0
86
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4.35
87
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4.4
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4.45
89
0
89
0
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4.5
90
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90
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4.55
91
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4.6
92
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92
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4.65
93
0
93
0
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4.7
94
0
94
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4.75
95
0
95
0
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4.8
96
0
96
0
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4.85
97
0
97
0
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4.9
98
0
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": "v2.1",
    "trossen_subversion": "v1.0",
    "robot_type": "trossen_ai_mobile",
    "total_episodes": 1,
    "total_frames": 372,
    "total_tasks": 1,
    "total_videos": 3,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:1"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "linear_vel",
                "angular_vel",
                "left_joint_0",
                "left_joint_1",
                "left_joint_2",
                "left_joint_3",
                "left_joint_4",
                "left_joint_5",
                "left_joint_6",
                "right_joint_0",
                "right_joint_1",
                "right_joint_2",
                "right_joint_3",
                "right_joint_4",
                "right_joint_5",
                "right_joint_6"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "odom_x",
                "odom_y",
                "odom_theta",
                "linear_vel",
                "angular_vel",
                "left_joint_0",
                "left_joint_1",
                "left_joint_2",
                "left_joint_3",
                "left_joint_4",
                "left_joint_5",
                "left_joint_6",
                "right_joint_0",
                "right_joint_1",
                "right_joint_2",
                "right_joint_3",
                "right_joint_4",
                "right_joint_5",
                "right_joint_6"
            ]
        },
        "observation.images.cam_high": {
            "dtype": "video",
            "shape": [
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.fps": 20.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.cam_left_wrist": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
                "height",
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}

Citation

BibTeX:

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