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Datasets:
TInkybala
/
Isaac_UR10e_PickHex

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
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observation.state
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float32
0
8.3
frame_index
int64
0
249
episode_index
int64
0
69
index
int64
0
12.2k
task_index
int64
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2.9
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3
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3.1
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3.2
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[ -0.08650752902030945, -1.7432475090026855, -2.1302778720855713, -0.826450526714325, 1.5710734128952026, 0.018381929025053978, 0.03999999910593033 ]
3.266667
98
0
98
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[ -0.08650752902030945, -1.7432475090026855, -2.1302778720855713, -0.826450526714325, 1.5710734128952026, 0.018381929025053978, 0 ]
[ -0.08650752902030945, -1.7432475090026855, -2.1302778720855713, -0.826450526714325, 1.5710734128952026, 0.018381929025053978, 0.03999999910593033 ]
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": "ros2",
    "total_episodes": 70,
    "total_frames": 12172,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:70"
    },
    "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": [
                "shoulder_pan_joint.pos",
                "shoulder_lift_joint.pos",
                "elbow_joint.pos",
                "wrist_1_joint.pos",
                "wrist_2_joint.pos",
                "wrist_3_joint.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan_joint.pos",
                "shoulder_lift_joint.pos",
                "elbow_joint.pos",
                "wrist_1_joint.pos",
                "wrist_2_joint.pos",
                "wrist_3_joint.pos",
                "finger_joint.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.images.camera_1": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "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.camera_2": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "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",
            "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
        }
    }
}

Citation

BibTeX:

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License:
apache-2.0
Number of rows:
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Total file size:
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Models trained or fine-tuned on TInkybala/Isaac_UR10e_PickHex