Ziegelll/RAPID_dummy_16
Robotics
•
Updated
•
16
observation.joint_states
listlengths 6
6
| observation.gripper_pos
listlengths 1
1
| observation.gripper_torque
listlengths 1
1
| action
listlengths 7
7
| episode_index
int64 0
15
| frame_index
int64 0
257
| timestamp
float64 0
12.9
| next.done
bool 2
classes | index
int64 0
2.97k
| task_index
int64 0
0
| task
large_stringclasses 1
value | clock_time
float64 1.77B
1.77B
|
|---|---|---|---|---|---|---|---|---|---|---|---|
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pick the green cube into the box
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pick the green cube into the box
| 1,769,260,405.669174
|
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pick the green cube into the box
| 1,769,260,405.726044
|
[
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pick the green cube into the box
| 1,769,260,405.75966
|
[
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pick the green cube into the box
| 1,769,260,405.81002
|
[
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pick the green cube into the box
| 1,769,260,405.869491
|
[
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| 6
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pick the green cube into the box
| 1,769,260,405.916182
|
[
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pick the green cube into the box
| 1,769,260,405.962644
|
[
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| 8
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| 8
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|
pick the green cube into the box
| 1,769,260,406.014818
|
[
0,
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| 9
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pick the green cube into the box
| 1,769,260,406.073039
|
[
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pick the green cube into the box
| 1,769,260,406.116441
|
[
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| 11
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| 11
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pick the green cube into the box
| 1,769,260,406.166772
|
[
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| 12
| 0.6
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| 12
| 0
|
pick the green cube into the box
| 1,769,260,406.213094
|
[
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[
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[
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[
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| 13
| 0.65
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| 13
| 0
|
pick the green cube into the box
| 1,769,260,406.268272
|
[
0.12890625,
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| 14
| 0.7
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| 14
| 0
|
pick the green cube into the box
| 1,769,260,406.317194
|
[
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[
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[
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| 15
| 0.75
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| 15
| 0
|
pick the green cube into the box
| 1,769,260,406.360987
|
[
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| 16
| 0.8
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| 16
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|
pick the green cube into the box
| 1,769,260,406.415019
|
[
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[
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[
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[
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| 17
| 0.85
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| 17
| 0
|
pick the green cube into the box
| 1,769,260,406.471042
|
[
1.2733594179153442,
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[
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[
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[
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| 18
| 0.9
| false
| 18
| 0
|
pick the green cube into the box
| 1,769,260,406.519653
|
[
1.6729687452316284,
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[
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[
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[
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| 19
| 0.95
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| 19
| 0
|
pick the green cube into the box
| 1,769,260,406.565018
|
[
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[
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| 20
| 1
| false
| 20
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|
pick the green cube into the box
| 1,769,260,406.615903
|
[
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[
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[
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[
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| 21
| 1.05
| false
| 21
| 0
|
pick the green cube into the box
| 1,769,260,406.671261
|
[
3.0405468940734863,
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[
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[
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[
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| 22
| 1.1
| false
| 22
| 0
|
pick the green cube into the box
| 1,769,260,406.723504
|
[
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[
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[
0.006105066277086735
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[
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| 23
| 1.15
| false
| 23
| 0
|
pick the green cube into the box
| 1,769,260,406.761535
|
[
4.089609146118164,
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[
-1.0217172190499235
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[
0.006105066277086735
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[
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| 24
| 1.2
| false
| 24
| 0
|
pick the green cube into the box
| 1,769,260,406.817766
|
[
4.58203125,
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[
-1.065661909117845
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[
0.007081867195665836
] |
[
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19.880859375,
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| 25
| 1.25
| false
| 25
| 0
|
pick the green cube into the box
| 1,769,260,406.861518
|
[
5.043749809265137,
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42.79523468017578,
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[
-1.0217172190499235
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[
0.0065934667363762856
] |
[
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| 26
| 1.3
| false
| 26
| 0
|
pick the green cube into the box
| 1,769,260,406.92058
|
[
5.520234107971191,
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[
-0.977772528982002
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[
0.007570267654955387
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[
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| 27
| 1.35
| false
| 27
| 0
|
pick the green cube into the box
| 1,769,260,406.960076
|
[
6.030467987060547,
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[
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[
0.007570267654955387
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[
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| 28
| 1.4
| false
| 28
| 0
|
pick the green cube into the box
| 1,769,260,407.018053
|
[
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[
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[
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[
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| 29
| 1.45
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| 29
| 0
|
pick the green cube into the box
| 1,769,260,407.060336
|
[
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[
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[
0.007081867195665836
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[
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16.517578125,
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| 30
| 1.5
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| 30
| 0
|
pick the green cube into the box
| 1,769,260,407.122859
|
[
7.541718482971191,
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[
-1.065661909117845
] |
[
0.007570267654955387
] |
[
12.484922409057617,
1.6170272827148438,
116.65523529052734,
0.006562499795109034,
11.625,
-0.05249999836087227,
-0.0983562245965004
] | 0
| 31
| 1.55
| false
| 31
| 0
|
pick the green cube into the box
| 1,769,260,407.161692
|
[
7.960546970367432,
-12.472888946533203,
108.07852172851562,
-6.736172199249268,
31.85413932800293,
-0.04242187365889549
] |
[
-1.087634200790953
] |
[
0.008058668114244938
] |
[
12.484922409057617,
4.05078125,
116.65523529052734,
0.006562499795109034,
11.625,
-0.05249999836087227,
-0.07649928331375122
] | 0
| 32
| 1.6
| false
| 32
| 0
|
pick the green cube into the box
| 1,769,260,407.219984
|
[
8.377265930175781,
-11.136951446533203,
108.78984832763672,
-6.736172199249268,
30.202030181884766,
-0.04242187365889549
] |
[
-1.0436895107230313
] |
[
0.008058668114244938
] |
[
12.493124961853027,
4.05078125,
116.65523529052734,
0.006562499795109034,
11.625,
-0.053203124552965164,
-0.07649928331375122
] | 0
| 33
| 1.65
| false
| 33
| 0
|
pick the green cube into the box
| 1,769,260,407.26217
|
[
8.770312309265137,
-9.677734375,
109.57148742675781,
-6.736172199249268,
28.224376678466797,
-0.04078125208616257
] |
[
-1.065661909117845
] |
[
0.007570267654955387
] |
[
12.999140739440918,
4.05078125,
116.6484375,
0.005859375465661287,
11.625,
-0.053203124552965164,
-0.12021317332983017
] | 0
| 34
| 1.7
| false
| 34
| 0
|
pick the green cube into the box
| 1,769,260,407.321801
|
[
9.211172103881836,
-8.178672790527344,
110.3519515991211,
-6.736172199249268,
26.471717834472656,
-0.043828126043081284
] |
[
-1.0217172190499235
] |
[
0.007570267654955387
] |
[
13.469062805175781,
9.167427062988281,
116.6484375,
0.005859375465661287,
4.6171875,
-0.053203124552965164,
-0.14207011461257935
] | 0
| 35
| 1.75
| false
| 35
| 0
|
pick the green cube into the box
| 1,769,260,407.362899
|
[
9.537891387939453,
-6.87109375,
110.92640686035156,
-6.736172199249268,
24.618986129760742,
-0.0475781224668026
] |
[
-1.0436895107230313
] |
[
0.008547068573534489
] |
[
14.041874885559082,
9.167427062988281,
116.6484375,
0.005859375465661287,
3.310546875,
-0.053203124552965164,
-0.12021317332983017
] | 0
| 36
| 1.8
| false
| 36
| 0
|
pick the green cube into the box
| 1,769,260,407.420133
|
[
9.911015510559082,
-5.5164031982421875,
111.34101867675781,
-6.736172199249268,
23.003437042236328,
-0.045234374701976776
] |
[
-1.0217172190499235
] |
[
0.008058668114244938
] |
[
14.40234375,
9.167427062988281,
116.6484375,
0.005859375465661287,
3.310546875,
-0.053203124552965164,
-0.12021317332983017
] | 0
| 37
| 1.85
| false
| 37
| 0
|
pick the green cube into the box
| 1,769,260,407.464618
|
[
10.342265129089355,
-4.014068603515625,
111.908203125,
-6.736172199249268,
21.072656631469727,
-0.0475781224668026
] |
[
-1.065661909117845
] |
[
0.008058668114244938
] |
[
14.458358764648438,
9.167427062988281,
116.6484375,
0.005859375465661287,
3.310546875,
-0.053203124552965164,
-0.12021317332983017
] | 0
| 38
| 1.9
| false
| 38
| 0
|
pick the green cube into the box
| 1,769,260,407.526816
|
[
10.76578140258789,
-2.83538818359375,
112.38069915771484,
-6.736172199249268,
19.258594512939453,
-0.045234374701976776
] |
[
-1.065661909117845
] |
[
0.007570267654955387
] |
[
14.458358764648438,
9.301956176757812,
116.64187240600586,
0.005859375465661287,
3.310546875,
-0.053203124552965164,
-0.12021317332983017
] | 0
| 39
| 1.95
| false
| 39
| 0
|
pick the green cube into the box
| 1,769,260,407.562752
|
[
11.181562423706055,
-1.3358612060546875,
112.822265625,
-6.736172199249268,
17.446640014648438,
-0.0475781224668026
] |
[
-1.0217172190499235
] |
[
0.008547068573534489
] |
[
14.456719398498535,
9.301956176757812,
116.64187240600586,
0.005859375465661287,
-0.708984375,
-0.053203124552965164,
-0.1857839822769165
] | 0
| 40
| 2
| false
| 40
| 0
|
pick the green cube into the box
| 1,769,260,407.624864
|
[
11.545312881469727,
-0.079376220703125,
113.28726959228516,
-6.736875057220459,
15.644296646118164,
-0.05039063096046448
] |
[
-0.9997448206551098
] |
[
0.007570267654955387
] |
[
14.456719398498535,
9.301956176757812,
116.64187240600586,
0.005859375465661287,
-0.708984375,
-0.053203124552965164,
-0.9289199113845825
] | 0
| 41
| 2.05
| false
| 41
| 0
|
pick the green cube into the box
| 1,769,260,407.666128
|
[
11.855155944824219,
0.9132003784179688,
113.64281463623047,
-6.736172199249268,
13.851327896118164,
-0.056953124701976776
] |
[
-1.0217172190499235
] |
[
0.005616665352135897
] |
[
14.45531177520752,
9.301956176757812,
116.64187240600586,
0.005859375465661287,
-0.708984375,
-0.053203124552965164,
-10.086977005004883
] | 0
| 42
| 2.1
| false
| 42
| 0
|
pick the green cube into the box
| 1,769,260,407.720598
|
[
12.177186965942383,
1.9688262939453125,
114.00421142578125,
-6.736172199249268,
12.005390167236328,
-0.05249999836087227
] |
[
-1.5710257915380903
] |
[
-0.015872957184910774
] |
[
14.453202247619629,
9.301956176757812,
116.6484375,
0.005859375465661287,
-0.708984375,
-0.053203124552965164,
-14.02122688293457
] | 0
| 43
| 2.15
| false
| 43
| 0
|
pick the green cube into the box
| 1,769,260,407.764566
|
[
12.504140853881836,
3.0251541137695312,
114.3984375,
-6.736172199249268,
10.282032012939453,
-0.05179687589406967
] |
[
-1.7468045518097766
] |
[
-0.04517698660492897
] |
[
14.453202247619629,
9.301956176757812,
116.6484375,
0.005859375465661287,
-0.708984375,
-0.053203124552965164,
-13.999369621276855
] | 0
| 44
| 2.2
| false
| 44
| 0
|
pick the green cube into the box
| 1,769,260,407.821181
|
[
12.82406234741211,
4.03765869140625,
114.75164794921875,
-6.736172199249268,
8.445703506469727,
-0.05039063096046448
] |
[
-8.448369413641846
] |
[
-0.030036572366952896
] |
[
14.453202247619629,
9.301956176757812,
116.6484375,
0.005859375465661287,
-0.708984375,
-0.053203124552965164,
-13.999369621276855
] | 0
| 45
| 2.25
| false
| 45
| 0
|
pick the green cube into the box
| 1,769,260,407.867572
|
[
13.143749237060547,
5.088592529296875,
115.13859558105469,
-6.736172199249268,
6.627890586853027,
-0.05249999836087227
] |
[
-10.931243922231738
] |
[
-0.031013373285531998
] |
[
14.453202247619629,
9.301956176757812,
116.65827560424805,
0.005859375465661287,
-0.8259375691413879,
-0.053203124552965164,
-15.857210159301758
] | 0
| 46
| 2.3
| false
| 46
| 0
|
pick the green cube into the box
| 1,769,260,407.92061
|
[
13.415624618530273,
6.12359619140625,
115.49343872070312,
-6.736172199249268,
4.834453105926514,
-0.053203124552965164
] |
[
-11.28280144277511
] |
[
-0.03687417879700661
] |
[
14.451797485351562,
9.301246643066406,
116.65757369995117,
0.005859375465661287,
-0.8266406655311584,
-0.053203124552965164,
-24.687414169311523
] | 0
| 47
| 2.35
| false
| 47
| 0
|
pick the green cube into the box
| 1,769,260,407.964807
|
[
13.742344856262207,
7.0482025146484375,
115.81007385253906,
-6.736172199249268,
3.2690622806549072,
-0.05179687589406967
] |
[
-15.149933314978563
] |
[
-0.04420018568634987
] |
[
14.448047637939453,
9.301246643066406,
116.65968704223633,
0.005859375465661287,
-0.8266406655311584,
-0.053203124552965164,
-30.23907470703125
] | 0
| 48
| 2.4
| false
| 48
| 0
|
pick the green cube into the box
| 1,769,260,408.021136
|
[
13.936171531677246,
7.6671905517578125,
116.05078506469727,
-6.736172199249268,
2.0503125190734863,
-0.05484374612569809
] |
[
-16.753914449096847
] |
[
-0.06422460824251175
] |
[
14.444295883178711,
9.301246643066406,
116.86617660522461,
0.005859375465661287,
-0.8266406655311584,
-0.053203124552965164,
-30.304645538330078
] | 0
| 49
| 2.45
| false
| 49
| 0
|
pick the green cube into the box
| 1,769,260,408.068267
|
[
14.07632827758789,
8.134765625,
116.2535171508789,
-6.736172199249268,
1.2044531106948853,
-0.05249999836087227
] |
[
-23.763092141404368
] |
[
-0.049084194004535675
] |
[
14.438437461853027,
9.301246643066406,
117.02249908447266,
0.005859375465661287,
-0.8266406655311584,
-0.053203124552965164,
-30.719926834106445
] | 0
| 50
| 2.5
| false
| 50
| 0
|
pick the green cube into the box
| 1,769,260,408.112476
|
[
14.173123359680176,
8.497581481933594,
116.43843841552734,
-6.736172199249268,
0.6304687261581421,
-0.05249999836087227
] |
[
-30.288876855582576
] |
[
-0.02564096823334694
] |
[
14.428593635559082,
9.301246643066406,
117.07429122924805,
0.005859375465661287,
-0.8266406655311584,
-0.053203124552965164,
-35.047603607177734
] | 0
| 51
| 2.55
| false
| 51
| 0
|
pick the green cube into the box
| 1,769,260,408.167523
|
[
14.249062538146973,
8.729606628417969,
116.62429809570312,
-6.736172199249268,
0.3260156214237213,
-0.05249999836087227
] |
[
-32.02469430106044
] |
[
-0.028082970529794693
] |
[
14.38804817199707,
9.301246643066406,
117.13570404052734,
0.005859375465661287,
-0.8228906393051147,
-0.053203124552965164,
-35.0694580078125
] | 0
| 52
| 2.6
| false
| 52
| 0
|
pick the green cube into the box
| 1,769,260,408.220989
|
[
14.291016578674316,
8.900932312011719,
116.76750183105469,
-6.736172199249268,
-0.014062500558793545,
-0.053203124552965164
] |
[
-33.07936771646421
] |
[
-0.02612936869263649
] |
[
14.387343406677246,
9.301246643066406,
117.13500213623047,
0.005859375465661287,
-0.8228906393051147,
-0.053203124552965164,
-35.09131622314453
] | 0
| 53
| 2.65
| false
| 53
| 0
|
pick the green cube into the box
| 1,769,260,408.269608
|
[
14.314453125,
9.010391235351562,
116.82515716552734,
-6.736172199249268,
-0.27937498688697815,
-0.05414062365889549
] |
[
-33.233173331289144
] |
[
-0.02612936869263649
] |
[
14.380781173706055,
9.301246643066406,
117.13500213623047,
0.005859375465661287,
-0.8228906393051147,
-0.053203124552965164,
-35.0694580078125
] | 0
| 54
| 2.7
| false
| 54
| 0
|
pick the green cube into the box
| 1,769,260,408.3196
|
[
14.337186813354492,
9.089607238769531,
116.90999603271484,
-6.736172199249268,
-0.45210936665534973,
-0.053203124552965164
] |
[
-33.29908807187435
] |
[
-0.02661776915192604
] |
[
14.225390434265137,
9.294692993164062,
117.13500213623047,
0.005859375465661287,
-0.8228906393051147,
-0.053203124552965164,
-38.21685791015625
] | 0
| 55
| 2.75
| false
| 55
| 0
|
pick the green cube into the box
| 1,769,260,408.369921
|
[
14.337186813354492,
9.149612426757812,
117,
-6.736172199249268,
-0.5327343344688416,
-0.05414062365889549
] |
[
-33.62867543517873
] |
[
-0.03150177374482155
] |
[
13.841014862060547,
9.294692993164062,
117.13500213623047,
0.005859375465661287,
-0.8228906393051147,
-0.053203124552965164,
-39.28784942626953
] | 0
| 56
| 2.8
| false
| 56
| 0
|
pick the green cube into the box
| 1,769,260,408.412611
|
[
14.227266311645508,
9.189216613769531,
117.03328323364258,
-6.736172199249268,
-0.6276562809944153,
-0.053203124552965164
] |
[
-36.9684705996803
] |
[
-0.023198965936899185
] |
[
13.248751640319824,
9.294692993164062,
117.13500213623047,
0.005859375465661287,
-0.8228906393051147,
-0.053203124552965164,
-39.28784942626953
] | 0
| 57
| 2.85
| false
| 57
| 0
|
pick the green cube into the box
| 1,769,260,408.470143
|
[
14.039532661437988,
9.215469360351562,
117.05109024047852,
-6.736172199249268,
-0.6726562976837158,
-0.053203124552965164
] |
[
-37.01241603680016
] |
[
-0.02612936869263649
] |
[
12.730780601501465,
9.294692993164062,
117.13500213623047,
0.005859375465661287,
-0.8228906393051147,
-0.053203124552965164,
-43.593666076660156
] | 0
| 58
| 2.9
| false
| 58
| 0
|
pick the green cube into the box
| 1,769,260,408.510043
|
[
13.686562538146973,
9.236328125,
117.09023666381836,
-6.736875057220459,
-0.7235156297683716,
-0.053203124552965164
] |
[
-39.16570488963297
] |
[
-0.028082970529794693
] |
[
11.969297409057617,
9.293983459472656,
117.13500213623047,
0.005859375465661287,
-0.8228906393051147,
-0.053203124552965164,
-43.61552429199219
] | 0
| 59
| 2.95
| false
| 59
| 0
|
pick the green cube into the box
| 1,769,260,408.570296
|
[
13.294687271118164,
9.256950378417969,
117.1052360534668,
-6.736172199249268,
-0.7502343058586121,
-0.053203124552965164
] |
[
-40.68179856460611
] |
[
-0.02710616961121559
] |
[
11.551874160766602,
9.293983459472656,
117.13500213623047,
0.005859375465661287,
-0.8228906393051147,
-0.053203124552965164,
-45.648216247558594
] | 0
| 60
| 3
| false
| 60
| 0
|
pick the green cube into the box
| 1,769,260,408.612829
|
[
12.840703010559082,
9.266563415527344,
117.11038970947266,
-6.736172199249268,
-0.7703906297683716,
-0.053203124552965164
] |
[
-40.92349163857618
] |
[
-0.034920576959848404
] |
[
11.239922523498535,
9.293983459472656,
117.13500213623047,
0.005859375465661287,
-0.8228906393051147,
-0.053203124552965164,
-47.790199279785156
] | 0
| 61
| 3.05
| false
| 61
| 0
|
pick the green cube into the box
| 1,769,260,408.668173
|
[
12.410625457763672,
9.273361206054688,
117.11624908447266,
-6.736172199249268,
-0.7877343893051147,
-0.053203124552965164
] |
[
-41.36293917958563
] |
[
-0.042734984308481216
] |
[
11.068124771118164,
9.293983459472656,
117.13500213623047,
0.005859375465661287,
-0.8228906393051147,
-0.05249999836087227,
-47.83391189575195
] | 0
| 62
| 3.1
| false
| 62
| 0
|
pick the green cube into the box
| 1,769,260,408.711617
|
[
12.10289192199707,
9.278518676757812,
117.12140274047852,
-6.736172199249268,
-0.7926562428474426,
-0.053203124552965164
] |
[
-42.17591610592474
] |
[
-0.04713059216737747
] |
[
11.067420959472656,
9.293983459472656,
117.13500213623047,
0.005859375465661287,
-0.8228906393051147,
-0.05179687589406967,
-48.57704544067383
] | 0
| 63
| 3.15
| false
| 63
| 0
|
pick the green cube into the box
| 1,769,260,408.770614
|
[
11.790703773498535,
9.283668518066406,
117.12726593017578,
-6.736172199249268,
-0.7978125214576721,
-0.053203124552965164
] |
[
-43.36242241759351
] |
[
-0.048595793545246124
] |
[
11.068828582763672,
9.293983459472656,
117.13500213623047,
0.005859375465661287,
-0.8228906393051147,
-0.05249999836087227,
-59.57108688354492
] | 0
| 64
| 3.2
| false
| 64
| 0
|
pick the green cube into the box
| 1,769,260,408.814618
|
[
11.582812309265137,
9.287422180175781,
117.12726593017578,
-6.736172199249268,
-0.8128125071525574,
-0.05249999836087227
] |
[
-53.140114837128145
] |
[
-0.02710616961121559
] |
[
11.073281288146973,
9.293983459472656,
117.87890625,
0.005859375465661287,
-0.8228906393051147,
-0.05249999836087227,
-61.866065979003906
] | 0
| 65
| 3.25
| false
| 65
| 0
|
pick the green cube into the box
| 1,769,260,408.86842
|
[
11.44124984741211,
9.288825988769531,
117.25312805175781,
-6.736172199249268,
-0.8292187452316284,
-0.05179687589406967
] |
[
-57.864167365243276
] |
[
-0.024175766855478287
] |
[
11.075624465942383,
9.293983459472656,
117.87890625,
0.005859375465661287,
-0.8228906393051147,
-0.05249999836087227,
-61.9097785949707
] | 0
| 66
| 3.3
| false
| 66
| 0
|
pick the green cube into the box
| 1,769,260,408.912334
|
[
11.3392972946167,
9.291175842285156,
117.42585372924805,
-6.736172199249268,
-0.8107030987739563,
-0.053203124552965164
] |
[
-58.347560343372585
] |
[
-0.029059771448373795
] |
[
11.078436851501465,
9.293983459472656,
118.10577774047852,
0.005859375465661287,
-0.8228906393051147,
-0.05249999836087227,
-61.93163299560547
] | 0
| 67
| 3.35
| false
| 67
| 0
|
pick the green cube into the box
| 1,769,260,408.975035
|
[
11.266172409057617,
9.291877746582031,
117.59344100952148,
-6.736172199249268,
-0.8191406726837158,
-0.05249999836087227
] |
[
-58.67714429158238
] |
[
-0.03150177374482155
] |
[
11.081483840942383,
9.296333312988281,
118.10577774047852,
0.005859375465661287,
-0.8228906393051147,
-0.05249999836087227,
-61.9534912109375
] | 0
| 68
| 3.4
| false
| 68
| 0
|
pick the green cube into the box
| 1,769,260,409.01564
|
[
11.210859298706055,
9.292572021484375,
117.73101425170898,
-6.736875057220459,
-0.8313281536102295,
-0.05249999836087227
] |
[
-59.424203062241695
] |
[
-0.031013373285531998
] |
[
11.083593368530273,
9.300544738769531,
118.10577774047852,
0.005859375465661287,
-0.8228906393051147,
-0.05249999836087227,
-61.97534942626953
] | 0
| 69
| 3.45
| false
| 69
| 0
|
pick the green cube into the box
| 1,769,260,409.070424
|
[
11.168203353881836,
9.293983459472656,
117.83929824829102,
-6.736172199249268,
-0.8205468058586121,
-0.05249999836087227
] |
[
-60.061405070290526
] |
[
-0.028082970529794693
] |
[
11.082890510559082,
9.303596496582031,
118.11468887329102,
0.005859375465661287,
-0.8228906393051147,
-0.05249999836087227,
-61.9097785949707
] | 0
| 70
| 3.5
| false
| 70
| 0
|
pick the green cube into the box
| 1,769,260,409.115165
|
[
11.149922370910645,
9.298431396484375,
117.91757583618164,
-6.736875057220459,
-0.8170312643051147,
-0.05249999836087227
] |
[
-60.676627529590256
] |
[
-0.02564096823334694
] |
[
11.08218765258789,
9.303596496582031,
118.51476287841797,
0.005859375465661287,
-0.8228906393051147,
-0.05249999836087227,
-61.9534912109375
] | 0
| 71
| 3.55
| false
| 71
| 0
|
pick the green cube into the box
| 1,769,260,409.17116
|
[
11.133749961853027,
9.299842834472656,
118.05187225341797,
-6.736172199249268,
-0.8320311903953552,
-0.05249999836087227
] |
[
-60.76451840382998
] |
[
-0.023687366396188736
] |
[
11.077733993530273,
9.525077819824219,
118.83726119995117,
0.005859375465661287,
-0.8228906393051147,
-0.05249999836087227,
-61.99721145629883
] | 0
| 72
| 3.6
| false
| 72
| 0
|
pick the green cube into the box
| 1,769,260,409.21511
|
[
11.112421989440918,
9.332656860351562,
118.23562622070312,
-6.736172199249268,
-0.8271093368530273,
-0.05249999836087227
] |
[
-60.78649112238991
] |
[
-0.023198965936899185
] |
[
11.072577476501465,
9.525077819824219,
118.83867263793945,
0.005859375465661287,
-0.8228906393051147,
-0.05249999836087227,
-61.97534942626953
] | 0
| 73
| 3.65
| false
| 73
| 0
|
pick the green cube into the box
| 1,769,260,409.270829
|
[
11.103047370910645,
9.383049011230469,
118.40695190429688,
-6.736875057220459,
-0.8149219155311584,
-0.05249999836087227
] |
[
-60.78649112238991
] |
[
-0.022222163155674934
] |
[
11.021016120910645,
9.525077819824219,
118.83210372924805,
0.005859375465661287,
-0.8228906393051147,
-0.05249999836087227,
-61.9097785949707
] | 0
| 74
| 3.7
| false
| 74
| 0
|
pick the green cube into the box
| 1,769,260,409.315004
|
[
11.087108612060547,
9.428512573242188,
118.52296829223633,
-6.736172199249268,
-0.8205468058586121,
-0.05249999836087227
] |
[
-60.78649112238991
] |
[
-0.021245362237095833
] |
[
11.003671646118164,
12.012969970703125,
118.81805038452148,
0.005859375465661287,
-0.8228906393051147,
-0.05249999836087227,
-61.9097785949707
] | 0
| 75
| 3.75
| false
| 75
| 0
|
pick the green cube into the box
| 1,769,260,409.371431
|
[
11.061797142028809,
9.667343139648438,
118.60523223876953,
-6.736172199249268,
-0.8313281536102295,
-0.05249999836087227
] |
[
-60.80846384094984
] |
[
-0.020756961777806282
] |
[
11.002734184265137,
12.986564636230469,
118.81711196899414,
0.005859375465661287,
-0.8228906393051147,
-0.05249999836087227,
-61.93163299560547
] | 0
| 76
| 3.8
| false
| 76
| 0
|
pick the green cube into the box
| 1,769,260,409.415834
|
[
11.045859336853027,
10.471015930175781,
118.67343521118164,
-6.736172199249268,
-0.8278124928474426,
-0.05249999836087227
] |
[
-60.78649112238991
] |
[
-0.021245362237095833
] |
[
11.002734184265137,
12.986564636230469,
118.81499862670898,
0.005859375465661287,
-1.8321093320846558,
-0.05249999836087227,
-61.9097785949707
] | 0
| 77
| 3.85
| false
| 77
| 0
|
pick the green cube into the box
| 1,769,260,409.472891
|
[
11.036250114440918,
11.143905639648438,
118.72101211547852,
-6.736875057220459,
-0.9466405510902405,
-0.053203124552965164
] |
[
-60.80846384094984
] |
[
-0.02026856131851673
] |
[
11.002734184265137,
12.986564636230469,
118.81499862670898,
0.005859375465661287,
-3.1136722564697266,
-0.05249999836087227,
-61.88792037963867
] | 0
| 78
| 3.9
| false
| 78
| 0
|
pick the green cube into the box
| 1,769,260,409.515911
|
[
11.028749465942383,
11.652976989746094,
118.73133087158203,
-6.736172199249268,
-1.376953125,
-0.05249999836087227
] |
[
-60.78649112238991
] |
[
-0.01978016085922718
] |
[
11.005078315734863,
12.986564636230469,
118.81499862670898,
0.005859375465661287,
-5.20382833480835,
-0.05249999836087227,
-61.9097785949707
] | 0
| 79
| 3.95
| false
| 79
| 0
|
pick the green cube into the box
| 1,769,260,409.560079
|
[
11.021484375,
12.094764709472656,
118.76484680175781,
-6.736172199249268,
-2.3327343463897705,
-0.05249999836087227
] |
[
-60.83043655950977
] |
[
-0.01929176039993763
] |
[
11.010703086853027,
12.986564636230469,
118.81499862670898,
0.005859375465661287,
-7.062890529632568,
-0.05249999836087227,
-61.9097785949707
] | 0
| 80
| 4
| false
| 80
| 0
|
pick the green cube into the box
| 1,769,260,409.614935
|
[
11.0170316696167,
12.320701599121094,
118.77210998535156,
-6.736172199249268,
-3.3982033729553223,
-0.05179687589406967
] |
[
-60.8524092780697
] |
[
-0.01929176039993763
] |
[
11.012343406677246,
12.986564636230469,
118.81499862670898,
0.005859375465661287,
-9.057422637939453,
-0.05249999836087227,
-61.9534912109375
] | 0
| 81
| 4.05
| false
| 81
| 0
|
pick the green cube into the box
| 1,769,260,409.665649
|
[
11.015625,
12.509605407714844,
118.78593444824219,
-6.736172199249268,
-4.780077934265137,
-0.05249999836087227
] |
[
-60.83043655950977
] |
[
-0.01880335994064808
] |
[
11.012343406677246,
21.036163330078125,
118.81499862670898,
0.005859375465661287,
-10.546875,
-0.05249999836087227,
-61.9534912109375
] | 0
| 82
| 4.1
| false
| 82
| 0
|
pick the green cube into the box
| 1,769,260,409.71728
|
[
11.013984680175781,
12.885780334472656,
118.78898620605469,
-6.736172199249268,
-6.214687824249268,
-0.05249999836087227
] |
[
-60.83043655950977
] |
[
-0.01880335994064808
] |
[
11.011405944824219,
21.560707092285156,
118.81499862670898,
0.005859375465661287,
-11.53125,
-0.05249999836087227,
-61.9097785949707
] | 0
| 83
| 4.15
| false
| 83
| 0
|
pick the green cube into the box
| 1,769,260,409.762885
|
[
11.013984680175781,
14.145782470703125,
118.79765319824219,
-6.736172199249268,
-7.310390949249268,
-0.05249999836087227
] |
[
-60.80846384094984
] |
[
-0.018314959481358528
] |
[
11.011405944824219,
21.560707092285156,
118.81499862670898,
0.005859375465661287,
-11.53125,
-0.05249999836087227,
-61.93163299560547
] | 0
| 84
| 4.2
| false
| 84
| 0
|
pick the green cube into the box
| 1,769,260,409.814799
|
[
11.013280868530273,
15.773513793945312,
118.81101608276367,
-6.736875057220459,
-8.256093978881836,
-0.053203124552965164
] |
[
-60.80846384094984
] |
[
-0.017826559022068977
] |
[
11.010703086853027,
22.29242706298828,
118.81499862670898,
0.005859375465661287,
-11.53125,
-0.05249999836087227,
-61.93163299560547
] | 0
| 85
| 4.25
| false
| 85
| 0
|
pick the green cube into the box
| 1,769,260,409.866866
|
[
11.012578010559082,
17.63140106201172,
118.80867004394531,
-6.736172199249268,
-9.275390625,
-0.05249999836087227
] |
[
-61.05015691491991
] |
[
-0.016849758103489876
] |
[
11.008593559265137,
22.29242706298828,
118.81499862670898,
0.005859375465661287,
-11.53125,
-0.05249999836087227,
-61.93163299560547
] | 0
| 86
| 4.3
| false
| 86
| 0
|
pick the green cube into the box
| 1,769,260,409.920184
|
[
11.01187515258789,
19.090621948242188,
118.79179763793945,
-6.736172199249268,
-9.960702896118164,
-0.05625000223517418
] |
[
-61.094102352039776
] |
[
-0.016361357644200325
] |
[
11.008593559265137,
23.557113647460938,
118.81499862670898,
0.005859375465661287,
-11.53125,
-0.05249999836087227,
-61.9534912109375
] | 0
| 87
| 4.35
| false
| 87
| 0
|
pick the green cube into the box
| 1,769,260,409.965074
|
[
11.007421493530273,
20.233909606933594,
118.78687286376953,
-6.736875057220459,
-10.404844284057617,
-0.055546872317790985
] |
[
-61.160020507719565
] |
[
-0.016361357644200325
] |
[
11.007890701293945,
24.299148559570312,
118.81499862670898,
0.005859375465661287,
-11.53125,
-0.05249999836087227,
-61.9097785949707
] | 0
| 88
| 4.4
| false
| 88
| 0
|
pick the green cube into the box
| 1,769,260,410.01486
|
[
11.008125305175781,
21.317657470703125,
118.79109573364258,
-6.736172199249268,
-10.722187995910645,
-0.055546872317790985
] |
[
-61.138047789159636
] |
[
-0.015872957184910774
] |
[
11.007187843322754,
24.33289337158203,
118.81499862670898,
0.005859375465661287,
-11.53125,
-0.05249999836087227,
-61.93163299560547
] | 0
| 89
| 4.45
| false
| 89
| 0
|
pick the green cube into the box
| 1,769,260,410.06866
|
[
11.008828163146973,
22.199378967285156,
118.7985954284668,
-6.736875057220459,
-10.941328048706055,
-0.055546872317790985
] |
[
-61.138047789159636
] |
[
-0.014896156266331673
] |
[
11.007187843322754,
24.488746643066406,
118.81499862670898,
0.005859375465661287,
-11.53125,
-0.05249999836087227,
-61.93163299560547
] | 0
| 90
| 4.5
| false
| 90
| 0
|
pick the green cube into the box
| 1,769,260,410.121174
|
[
11.007421493530273,
22.812973022460938,
118.80141067504883,
-6.736875057220459,
-11.093437194824219,
-0.055546872317790985
] |
[
-61.138047789159636
] |
[
-0.015384556725621223
] |
[
11.007187843322754,
24.488746643066406,
118.81499862670898,
0.005859375465661287,
-11.53125,
-0.05249999836087227,
-61.9097785949707
] | 0
| 91
| 4.55
| false
| 91
| 0
|
pick the green cube into the box
| 1,769,260,410.160041
|
[
11.007421493530273,
23.34101104736328,
118.80141067504883,
-6.736875057220459,
-11.230781555175781,
-0.053203124552965164
] |
[
-61.116075070599706
] |
[
-0.014896156266331673
] |
[
11.007187843322754,
24.488746643066406,
118.81499862670898,
0.005859375465661287,
-11.53125,
-0.05249999836087227,
-61.9534912109375
] | 0
| 92
| 4.6
| false
| 92
| 0
|
pick the green cube into the box
| 1,769,260,410.216413
|
[
11.006718635559082,
23.6414794921875,
118.8051528930664,
-6.736875057220459,
-11.310234069824219,
-0.05249999836087227
] |
[
-61.138047789159636
] |
[
-0.014407755807042122
] |
[
11.006484031677246,
24.488746643066406,
118.81499862670898,
0.005859375465661287,
-11.53125,
-0.05179687589406967,
-61.93163299560547
] | 0
| 93
| 4.65
| false
| 93
| 0
|
pick the green cube into the box
| 1,769,260,410.262651
|
[
11.00601577758789,
23.901641845703125,
118.80656433105469,
-6.737578392028809,
-11.377500534057617,
-0.053203124552965164
] |
[
-61.138047789159636
] |
[
-0.014407755807042122
] |
[
11.007187843322754,
24.488746643066406,
118.81499862670898,
0.005859375465661287,
-11.53125,
-0.05179687589406967,
-61.93163299560547
] | 0
| 94
| 4.7
| false
| 94
| 0
|
pick the green cube into the box
| 1,769,260,410.32527
|
[
11.00601577758789,
24.061012268066406,
118.80726623535156,
-6.736875057220459,
-11.41195297241211,
-0.05249999836087227
] |
[
-61.160020507719565
] |
[
-0.014407755807042122
] |
[
11.007187843322754,
24.48712158203125,
118.81499862670898,
0.005859375465661287,
-11.53125,
-0.05179687589406967,
-61.93163299560547
] | 0
| 95
| 4.75
| false
| 95
| 0
|
pick the green cube into the box
| 1,769,260,410.36
|
[
11.006718635559082,
24.193199157714844,
118.80937576293945,
-6.737578392028809,
-11.450860023498535,
-0.05179687589406967
] |
[
-61.116075070599706
] |
[
-0.014896156266331673
] |
[
11.007187843322754,
24.484298706054688,
117.83953094482422,
0.005859375465661287,
-11.53125,
-0.05179687589406967,
-61.9534912109375
] | 0
| 96
| 4.8
| false
| 96
| 0
|
pick the green cube into the box
| 1,769,260,410.416956
|
[
11.006718635559082,
24.283668518066406,
118.66007995605469,
-6.736875057220459,
-11.467967987060547,
-0.053203124552965164
] |
[
-61.138047789159636
] |
[
-0.014896156266331673
] |
[
11.007187843322754,
24.482894897460938,
117.83953094482422,
0.005859375465661287,
-11.53125,
-0.05179687589406967,
-61.9534912109375
] | 0
| 97
| 4.85
| false
| 97
| 0
|
pick the green cube into the box
| 1,769,260,410.470682
|
[
11.006718635559082,
24.351882934570312,
118.43766021728516,
-6.736875057220459,
-11.479686737060547,
-0.05179687589406967
] |
[
-61.116075070599706
] |
[
-0.014407755807042122
] |
[
11.005781173706055,
24.482894897460938,
117.84187316894531,
0.005859375465661287,
-12.65273380279541,
-0.05179687589406967,
-61.93163299560547
] | 0
| 98
| 4.9
| false
| 98
| 0
|
pick the green cube into the box
| 1,769,260,410.521354
|
[
11.006718635559082,
24.396881103515625,
118.27922058105469,
-6.736875057220459,
-11.635547637939453,
-0.05039063096046448
] |
[
-61.181993226279495
] |
[
-0.014407755807042122
] |
[
10.912500381469727,
24.473983764648438,
117.84726333618164,
0.005859375465661287,
-12.65273380279541,
-0.05179687589406967,
-61.93163299560547
] | 0
| 99
| 4.95
| false
| 99
| 0
|
pick the green cube into the box
| 1,769,260,410.560729
|
End of preview. Expand
in Data Studio
Rapid Dummy 50 Dataset
This dataset contains teleoperated demonstrations for a pick-and-place task using a dummy_arm_inz arm with gripper.
Dataset Structure
Meta Information (meta/info.json)
{
"codebase_version": "v2.1",
"robot_type": "dummy_arm_inz",
"fps": 10,
"total_episodes": 16,
"total_frames": 2969,
"total_tasks": 1,
"total_videos": 32,
"chunks_size": 1000,
"splits": {
"train": "0:16"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"gripper_position_deg"
]
},
"gripper_torque": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper_torque"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"gripper"
]
},
"episode_index": {
"dtype": "int64",
"shape": []
},
"frame_index": {
"dtype": "int64",
"shape": []
},
"timestamp": {
"dtype": "float64",
"shape": []
},
"clock_time": {
"dtype": "float64",
"shape": []
},
"next.done": {
"dtype": "bool",
"shape": []
},
"index": {
"dtype": "int64",
"shape": []
},
"task_index": {
"dtype": "int64",
"shape": []
},
"task": {
"dtype": "string",
"shape": []
},
"observation.images.cam_head": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 10,
"video.codec": "mp4v"
}
},
"observation.images.cam_wrist": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 10,
"video.codec": "mp4v"
}
}
}
}
Features
The dataset follows the LeRobot vv2.1 format with the following features:
| Feature | Type | Shape | Description |
|---|---|---|---|
observation.state |
float32 | [7] | observation.state data |
gripper_torque |
float32 | [1] | Gripper torque feedback |
action |
float32 | [7] | Action commands (1 dimensions) |
episode_index |
int64 | [] | Episode identifier |
frame_index |
int64 | [] | Frame number within episode |
timestamp |
float64 | [] | Timestamp in seconds |
clock_time |
float64 | [] | clock_time data |
next.done |
bool | [] | Episode termination flag |
index |
int64 | [] | index data |
task_index |
int64 | [] | task_index data |
task |
string | [] | Task description |
observation.images.cam_head |
video | [720, 1280, 3] | Cam_head camera RGB video |
observation.images.cam_wrist |
video | [720, 1280, 3] | Cam_wrist camera RGB video |
Data Format
The dataset follows the LeRobot format:
dataset/
├── data/
│ └── chunk-000/
│ └── episode_*.parquet
├── videos/
│ └── chunk-000/
│ ├── observation.images.cam_head/
│ │ └── episode_*.mp4
│ └── observation.images.cam_wrist/
│ └── episode_*.mp4
└── meta/
├── info.json
├── episodes.jsonl
├── episodes_stats.jsonl
└── tasks.jsonl
Usage
Load the dataset using LeRobot:
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("Ziegelll/RAPID_dummy_50")
Citation
If you use this dataset, please cite:
@dataset{Ziegelll_RAPID_dummy_50_dataset_2026,
title={Rapid Dummy 50 Dataset},
author={Dataset Creator},
year={2026},
publisher={Hugging Face},
url={https://huggingface.co/datasets/Ziegelll/RAPID_dummy_50}
}
Generated on 2026-01-24 21:58:10 with LeRobot dataset tools.
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- 54
Homepage
huggingface.co
License
: MIT
Robot
: dummy_arm_inz
Task
: Pick and place manipulation task
Collection Method
: Human teleoperation
FPS
: 10
Total Episodes
: 16
Total Frames
: 2969
Size of downloaded dataset files:
387 kB
Size of the auto-converted Parquet files:
387 kB
Number of rows:
2,969
Models trained or fine-tuned on Ziegelll/RAPID_dummy_50