Search is not available for this dataset
observation.state
list | action
list | observation.ee_pose
list | timestamp
float32 | frame_index
int64 | episode_index
int64 | index
int64 | task_index
int64 |
|---|---|---|---|---|---|---|---|
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "ur5",
"total_episodes": 200,
"total_frames": 137040,
"total_tasks": 2,
"total_videos": 1200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:200"
},
"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": {
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"dtype": "float32",
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7
],
"names": [
"shoulder_pan_joint",
"shoulder_lift_joint",
"elbow_joint",
"wrist_1_joint",
"wrist_2_joint",
"wrist_3_joint",
"gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"shoulder_pan_joint",
"shoulder_lift_joint",
"elbow_joint",
"wrist_1_joint",
"wrist_2_joint",
"wrist_3_joint",
"gripper"
]
},
"observation.images.wrist_right_rgb": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
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],
"info": {
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"video.codec": "av1",
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}
},
"observation.images.context_top_rgb": {
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3,
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640
],
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],
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}
},
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3,
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640
],
"names": [
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],
"info": {
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}
},
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3,
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},
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],
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},
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3,
480,
640
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}
},
"observation.ee_pose": {
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],
"names": [
"translation_x",
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"rotation_y",
"rotation_z",
"rotation_w"
]
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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1
],
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},
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},
"index": {
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],
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},
"task_index": {
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"shape": [
1
],
"names": null
}
},
"conversion_metadata": {
"source": "ROS2 bags",
"converter_version": "v2.1_perfect_timestamps",
"timestamp_format": "frame_index_based",
"timestamp_generation": "Perfect FPS spacing using frame_index / fps",
"timestamp_note": "Timestamps are mathematically perfect (i/30) for 30 FPS. Data synchronized via interpolation: joints use linear interpolation, images use nearest-neighbor within 0.5s, poses use SLERP.",
"data_sync_tolerance": "0.5s for image nearest-neighbor matching",
"validation_tolerance": "1e-4s (default strict validation)",
"primary_camera": "context_top_rgb",
"frame_rate": "30Hz"
}
}
Citation
BibTeX:
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