Hugging Face's logo

Datasets:
kimz1121
/
UR5e_ros2_moveit_servo_debug_2025_08_11_12_49_30

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
 Community
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
list
observation.state
list
timestamp
float32
0
32.3
frame_index
int64
0
484
episode_index
int64
0
9
index
int64
0
2.98k
task_index
int64
0
0
[ 0, 0, 0, 0 ]
[ -0.13715417683124542, 0.49332600831985474, 0.4831722676753998, 0 ]
0
0
0
0
0
[ 0, 0, 0, 0 ]
[ -0.13715796172618866, 0.4933289885520935, 0.4831588864326477, 0 ]
0.066667
1
0
1
0
[ 0, 0, 0, 0 ]
[ -0.13714686036109924, 0.49332040548324585, 0.4831673800945282, 0 ]
0.133333
2
0
2
0
[ 0, 0, 0, 0 ]
[ -0.137152299284935, 0.49333861470222473, 0.48316049575805664, 0 ]
0.2
3
0
3
0
[ 0, 0, 0, 0 ]
[ -0.13714514672756195, 0.4933267831802368, 0.48317790031433105, 0 ]
0.266667
4
0
4
0
[ 0, 0, 0, 0 ]
[ -0.1371547430753708, 0.4933260679244995, 0.48315492272377014, 0 ]
0.333333
5
0
5
0
[ 0, 0, 0, 0 ]
[ -0.13715802133083344, 0.49332424998283386, 0.4831744432449341, 0 ]
0.4
6
0
6
0
[ 0, 0, 0, 0 ]
[ -0.13714107871055603, 0.4933362305164337, 0.48316773772239685, 0 ]
0.466667
7
0
7
0
[ 0, 0, 0, 0 ]
[ -0.13714854419231415, 0.49332940578460693, 0.4831739068031311, 0 ]
0.533333
8
0
8
0
[ 0, 0, 0, 0 ]
[ -0.13715465366840363, 0.4933373034000397, 0.48317039012908936, 0 ]
0.6
9
0
9
0
[ 0, 0, 0, 0 ]
[ -0.1371489018201828, 0.49332451820373535, 0.48316699266433716, 0 ]
0.666667
10
0
10
0
[ 0, 0, 0, 0 ]
[ -0.13714689016342163, 0.4933241605758667, 0.48315945267677307, 0 ]
0.733333
11
0
11
0
[ 0, 0, 0, 0 ]
[ -0.13714754581451416, 0.4933275580406189, 0.48315954208374023, 0 ]
0.8
12
0
12
0
[ 0, 0, 0, 0 ]
[ -0.13715796172618866, 0.49332743883132935, 0.4831729233264923, 0 ]
0.866667
13
0
13
0
[ 0, 0, 0, 0 ]
[ -0.13715460896492004, 0.49333107471466064, 0.4831676781177521, 0 ]
0.933333
14
0
14
0
[ 0, 0, 0, 0 ]
[ -0.1371467560529709, 0.4933266341686249, 0.48316556215286255, 0 ]
1
15
0
15
0
[ 0, 0, 0, 0 ]
[ -0.1371563971042633, 0.493335485458374, 0.4831686317920685, 0 ]
1.066667
16
0
16
0
[ 0, 0, 0, 0 ]
[ -0.1371542364358902, 0.4933320879936218, 0.48316869139671326, 0 ]
1.133333
17
0
17
0
[ 0, 0, 0, 0 ]
[ -0.1371566206216812, 0.4933139681816101, 0.4831776022911072, 0 ]
1.2
18
0
18
0
[ 0, 0, 0, 0 ]
[ -0.1371377557516098, 0.4933301508426666, 0.4831704795360565, 0 ]
1.266667
19
0
19
0
[ 0, 0, 0, 0 ]
[ -0.13715465366840363, 0.49333709478378296, 0.4831748902797699, 0 ]
1.333333
20
0
20
0
[ 0, 0, 0, 0 ]
[ -0.13714301586151123, 0.4933348000049591, 0.48316508531570435, 0 ]
1.4
21
0
21
0
[ 0, 0, 0, 0 ]
[ -0.1371486783027649, 0.4933280348777771, 0.483168363571167, 0 ]
1.466667
22
0
22
0
[ 0, 0, 0, 0 ]
[ -0.13715088367462158, 0.49333518743515015, 0.48316046595573425, 0 ]
1.533333
23
0
23
0
[ 0, 0, 0, 0 ]
[ -0.1371505856513977, 0.4933212399482727, 0.483175665140152, 0 ]
1.6
24
0
24
0
[ 0, 0, 0, 0 ]
[ -0.13714894652366638, 0.49332985281944275, 0.48316097259521484, 0 ]
1.666667
25
0
25
0
[ 0, 0, 0, 0 ]
[ -0.13715462386608124, 0.49333325028419495, 0.4831499457359314, 0 ]
1.733333
26
0
26
0
[ 0, 0, 0, 0 ]
[ -0.13716734945774078, 0.49332350492477417, 0.4831618368625641, 0 ]
1.8
27
0
27
0
[ 0, 0, 0, 0 ]
[ -0.1371314525604248, 0.49332430958747864, 0.48317262530326843, 0 ]
1.866667
28
0
28
0
[ 0, 0, 0, 0 ]
[ -0.13714691996574402, 0.49332892894744873, 0.48317599296569824, 0 ]
1.933333
29
0
29
0
[ 0, 0, 0, 0 ]
[ -0.13714849948883057, 0.49332427978515625, 0.48316705226898193, 0 ]
2
30
0
30
0
[ 0, 0, 0, 0 ]
[ -0.13714145123958588, 0.4933350682258606, 0.48316505551338196, 0 ]
2.066667
31
0
31
0
[ 0, 0, 0, 0 ]
[ -0.13715457916259766, 0.4933284521102905, 0.4831850826740265, 0 ]
2.133333
32
0
32
0
[ 0, 0, 0, 0 ]
[ -0.13716553151607513, 0.49332326650619507, 0.48316916823387146, 0 ]
2.2
33
0
33
0
[ 0, 0, 0, 0 ]
[ -0.13715791702270508, 0.49332308769226074, 0.4831596910953522, 0 ]
2.266667
34
0
34
0
[ 0, 0, 0, 0 ]
[ -0.13715589046478271, 0.4933171272277832, 0.483182430267334, 0 ]
2.333333
35
0
35
0
[ 0, 0, 0, 0 ]
[ -0.13713319599628448, 0.49332842230796814, 0.48316141963005066, 0 ]
2.4
36
0
36
0
[ 0, 0, 0, 0 ]
[ -0.1371469348669052, 0.4933302402496338, 0.483145534992218, 0 ]
2.466667
37
0
37
0
[ 0, 0, 0, 0 ]
[ -0.13715411722660065, 0.49331793189048767, 0.48317137360572815, 0 ]
2.533333
38
0
38
0
[ 0, 0, 0, 0 ]
[ -0.13714537024497986, 0.49332353472709656, 0.4831760823726654, 0 ]
2.6
39
0
39
0
[ 0, 0, 0, 0 ]
[ -0.13714878261089325, 0.49334049224853516, 0.4831673502922058, 0 ]
2.666667
40
0
40
0
[ 0, 0, 0, 0 ]
[ -0.13714401423931122, 0.4933266043663025, 0.48316359519958496, 0 ]
2.733333
41
0
41
0
[ 0, 0, 0, 0 ]
[ -0.13714750111103058, 0.49332165718078613, 0.4831821322441101, 0 ]
2.8
42
0
42
0
[ 0, 0, 0, 0 ]
[ -0.13713715970516205, 0.49333420395851135, 0.4831589162349701, 0 ]
2.866667
43
0
43
0
[ 0, 0, 0, 0 ]
[ -0.13716399669647217, 0.4933272898197174, 0.4831777513027191, 0 ]
2.933333
44
0
44
0
[ 0, 0, 0, 0 ]
[ -0.13715045154094696, 0.49332714080810547, 0.4831710457801819, 0 ]
3
45
0
45
0
[ 0, 0, 0, 0 ]
[ -0.1371399462223053, 0.49333587288856506, 0.4831669330596924, 0 ]
3.066667
46
0
46
0
[ 0, 0, 0, 0 ]
[ -0.13715209066867828, 0.49333178997039795, 0.48317602276802063, 0 ]
3.133333
47
0
47
0
[ 0, 0, 0, 0 ]
[ -0.13714434206485748, 0.49332091212272644, 0.4831729829311371, 0 ]
3.2
48
0
48
0
[ 0, 0, 0, 0 ]
[ -0.13714714348316193, 0.49332499504089355, 0.48318520188331604, 0 ]
3.266667
49
0
49
0
[ 0, 0, 0, 0 ]
[ -0.1371489316225052, 0.493328332901001, 0.48316630721092224, 0 ]
3.333333
50
0
50
0
[ 0, 0, 0, 0 ]
[ -0.13714106380939484, 0.4933336079120636, 0.48317214846611023, 0 ]
3.4
51
0
51
0
[ 0, 0, 0, 0 ]
[ -0.1371457278728485, 0.4933220148086548, 0.4831804633140564, 0 ]
3.466667
52
0
52
0
[ 0, 0, 0, 0 ]
[ -0.1371450126171112, 0.49332961440086365, 0.4831775724887848, 0 ]
3.533333
53
0
53
0
[ 0, 0, 0, 0 ]
[ -0.1371469646692276, 0.4933342933654785, 0.4831802248954773, 0 ]
3.6
54
0
54
0
[ 0, 0, 0, 0 ]
[ -0.13714894652366638, 0.49332955479621887, 0.48318812251091003, 0 ]
3.666667
55
0
55
0
[ 0, 0, 0, 0 ]
[ -0.13715030252933502, 0.4933280646800995, 0.4831743538379669, 0 ]
3.733333
56
0
56
0
[ 0, 0, 0, 0 ]
[ -0.1371457725763321, 0.49332696199417114, 0.48317405581474304, 0 ]
3.8
57
0
57
0
[ 0, 0, 0, 0 ]
[ -0.13715630769729614, 0.4933238625526428, 0.48315078020095825, 0 ]
3.866667
58
0
58
0
[ 0, 0, 0, 0 ]
[ -0.13715629279613495, 0.49332135915756226, 0.48317235708236694, 0 ]
3.933333
59
0
59
0
[ 0, -0.137237548828125, 0, 0 ]
[ -0.13715271651744843, 0.4933268427848816, 0.4831819236278534, 0 ]
4
60
0
60
0
[ -0.113739013671875, -0.2548828125, 0, 0 ]
[ -0.1371450126171112, 0.4928947985172272, 0.48322853446006775, 0 ]
4.066667
61
0
61
0
[ -0.207855224609375, -0.36468505859375, 0, 0 ]
[ -0.1373114138841629, 0.49193355441093445, 0.48343053460121155, 0 ]
4.133333
62
0
62
0
[ -0.254913330078125, -0.38037109375, 0, 0 ]
[ -0.1378520131111145, 0.4905923902988434, 0.48358720541000366, 0 ]
4.2
63
0
63
0
[ -0.435302734375, -0.419586181640625, 0, 0 ]
[ -0.13996395468711853, 0.48694607615470886, 0.4836543798446655, 0 ]
4.266667
64
0
64
0
[ -0.474517822265625, -0.623504638671875, 0, 0 ]
[ -0.14158783853054047, 0.48495054244995117, 0.4837096035480499, 0 ]
4.333333
65
0
65
0
[ -0.51373291015625, -0.780364990234375, 0, 0 ]
[ -0.14378708600997925, 0.48269614577293396, 0.4837847054004669, 0 ]
4.4
66
0
66
0
[ -0.521575927734375, -0.890167236328125, 0, 0 ]
[ -0.1485927402973175, 0.47596463561058044, 0.4837842881679535, 0 ]
4.466667
67
0
67
0
[ -0.396087646484375, -0.890167236328125, 0, 0 ]
[ -0.15121899545192719, 0.47169721126556396, 0.4837392270565033, 0 ]
4.533333
68
0
68
0
[ -0.333343505859375, -0.890167236328125, 0, 0 ]
[ -0.15363387763500214, 0.467339426279068, 0.4837973415851593, 0 ]
4.6
69
0
69
0
[ -0.32550048828125, -0.890167236328125, 0, 0 ]
[ -0.1573752909898758, 0.45830315351486206, 0.483802855014801, 0 ]
4.666667
70
0
70
0
[ -0.32550048828125, -0.9136962890625, 0, 0 ]
[ -0.15897226333618164, 0.45394644141197205, 0.48380526900291443, 0 ]
4.733333
71
0
71
0
[ -0.32550048828125, -0.99212646484375, 0, 0 ]
[ -0.1606205552816391, 0.449357807636261, 0.4838203489780426, 0 ]
4.8
72
0
72
0
[ 0, -0.999969482421875, 0, 0 ]
[ -0.1637895405292511, 0.4400313198566437, 0.48378005623817444, 0 ]
4.866667
73
0
73
0
[ 0, -0.999969482421875, 0, 0 ]
[ -0.1645515263080597, 0.43513134121894836, 0.4837474226951599, 0 ]
4.933333
74
0
74
0
[ -0.192169189453125, -0.999969482421875, 0, 0 ]
[ -0.16454872488975525, 0.4300808608531952, 0.48368820548057556, 0 ]
5
75
0
75
0
[ -0.12158203125, -0.999969482421875, 0, 0 ]
[ -0.16530857980251312, 0.4203222095966339, 0.4836677610874176, 0 ]
5.066667
76
0
76
0
[ 0, -0.999969482421875, 0, 0 ]
[ -0.16609683632850647, 0.4152469038963318, 0.4837324023246765, 0 ]
5.133333
77
0
77
0
[ 0, -0.999969482421875, 0, 0 ]
[ -0.166518896818161, 0.41010287404060364, 0.4837081730365753, 0 ]
5.2
78
0
78
0
[ 0, -0.999969482421875, -0.105865478515625, 0 ]
[ -0.16654537618160248, 0.40519005060195923, 0.48370909690856934, 0 ]
5.266667
79
0
79
0
[ 0, -0.999969482421875, -0.105865478515625, 0 ]
[ -0.16655495762825012, 0.3954220116138458, 0.48341104388237, 0 ]
5.333333
80
0
80
0
[ 0, -0.999969482421875, -0.105865478515625, 0 ]
[ -0.16654139757156372, 0.3903544545173645, 0.4828352928161621, 0 ]
5.4
81
0
81
0
[ 0, -0.999969482421875, 0, 0 ]
[ -0.16653159260749817, 0.3854250907897949, 0.4823099970817566, 0 ]
5.466667
82
0
82
0
[ 0, -0.999969482421875, 0, 0 ]
[ -0.16652704775333405, 0.375410258769989, 0.48156294226646423, 0 ]
5.533333
83
0
83
0
[ 0.152923583984375, -0.999969482421875, 0, 0 ]
[ -0.16653209924697876, 0.37035322189331055, 0.48148825764656067, 0 ]
5.6
84
0
84
0
[ 0.30194091796875, -0.99212646484375, 0, 0 ]
[ -0.16649357974529266, 0.36544516682624817, 0.48149359226226807, 0 ]
5.666667
85
0
85
0
[ 0.30194091796875, -0.99212646484375, 0, 0 ]
[ -0.1643887162208557, 0.3552381694316864, 0.4813525378704071, 0 ]
5.733333
86
0
86
0
[ 0.294097900390625, -0.984283447265625, 0, 0 ]
[ -0.16292831301689148, 0.35036611557006836, 0.48135727643966675, 0 ]
5.8
87
0
87
0
[ 0.30194091796875, -0.99212646484375, 0, 0 ]
[ -0.16136932373046875, 0.3452584147453308, 0.48139241337776184, 0 ]
5.866667
88
0
88
0
[ 0.33331298828125, -0.968597412109375, -0.11370849609375, 0 ]
[ -0.15846040844917297, 0.33540356159210205, 0.4812747538089752, 0 ]
5.933333
89
0
89
0
[ 0.341156005859375, -0.74114990234375, -0.27056884765625, 0 ]
[ -0.15684837102890015, 0.3303886353969574, 0.4810216724872589, 0 ]
6
90
0
90
0
[ 0, -0.17645263671875, -0.325469970703125, 0 ]
[ -0.15522094070911407, 0.32593196630477905, 0.4802303612232208, 0 ]
6.066667
91
0
91
0
[ 0, 0, -0.42742919921875, 0 ]
[ -0.15324129164218903, 0.3206119239330292, 0.47730937600135803, 0 ]
6.133333
92
0
92
0
[ 0, 0, -0.4744873046875, 0 ]
[ -0.15321147441864014, 0.3201671838760376, 0.47533124685287476, 0 ]
6.2
93
0
93
0
[ 0, 0, -0.63134765625, 0 ]
[ -0.15323424339294434, 0.3201790153980255, 0.4730479419231415, 0 ]
6.266667
94
0
94
0
[ 0, 0, -0.7568359375, 0 ]
[ -0.1532335877418518, 0.32024672627449036, 0.47045841813087463, 0 ]
6.333333
95
0
95
0
[ 0, 0, -0.858795166015625, 0 ]
[ -0.15323980152606964, 0.3203873038291931, 0.4638992249965668, 0 ]
6.4
96
0
96
0
[ 0, 0, -0.968597412109375, 0 ]
[ -0.15323205292224884, 0.32043424248695374, 0.46001502871513367, 0 ]
6.466667
97
0
97
0
[ 0, 0.23138427734375, -0.999969482421875, 0 ]
[ -0.1532309651374817, 0.3204226791858673, 0.45558226108551025, 0 ]
6.533333
98
0
98
0
[ 0, 0.32550048828125, -0.999969482421875, 0 ]
[ -0.1532423496246338, 0.3211219012737274, 0.44585928320884705, 0 ]
6.6
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",
    "robot_type": "ur5e_moveit_servo",
    "total_episodes": 10,
    "total_frames": 2983,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:10"
    },
    "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": [
                4
            ],
            "names": [
                "eef_pos_x",
                "eef_pos_y",
                "eef_pos_z",
                "gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": [
                "eef_pos_x",
                "eef_pos_y",
                "eef_pos_z",
                "gripper"
            ]
        },
        "observation.images.side": {
            "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": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.top": {
            "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": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "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": 15,
                "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:

[More Information Needed]
Downloads last month
11
License:
apache-2.0
Number of rows:
2,983
Total file size:
42 MB