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robgenclipboard
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nomagic-simple-box

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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License:
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  1. README.md +229 -0
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README.md ADDED
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1
+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ configs:
8
+ - config_name: default
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+ data_files: data/*/*.parquet
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+ ---
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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
16
+
17
+
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+ - **Homepage:** [More Information Needed]
19
+ - **Paper:** [More Information Needed]
20
+ - **License:** apache-2.0
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+
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+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
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+ ```json
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+ {
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+ "codebase_version": "v2.1",
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+ "robot_type": "UR10",
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+ "total_episodes": 230,
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+ "total_frames": 28843,
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+ "total_tasks": 2,
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+ "total_videos": 690,
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+ "total_chunks": 1,
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+ "chunks_size": 1000,
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+ "fps": 25,
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+ "splits": {
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+ "train": "0:230"
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+ },
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+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+ "features": {
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+ "action.pose": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": [
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+ "dx",
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+ "dy",
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+ "dz",
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+ "droll",
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+ "dpitch",
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+ "dyaw"
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+ ]
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+ },
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+ "action.gripper": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": [
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+ "gripper"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": [
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+ "dbase",
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+ "dshoulder",
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+ "delbow",
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+ "dwrist1",
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+ "dwrist2",
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+ "dwrist3"
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+ ]
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+ },
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+ "observation.state.pose": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw"
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+ ]
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+ },
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+ ],
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+ ]
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+ },
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": [
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+ "base",
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+ "shoulder",
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+ "elbow",
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+ "wrist1",
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+ "wrist2",
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+ "wrist3"
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+ ]
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+ },
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+ "shape": [
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "manufacturer": "Basler",
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+ "model": "a2A1920-51gcBAS"
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+ }
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+ },
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+ "observation.images.wrist_left": {
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+ "dtype": "video",
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+ "shape": [
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+ 540,
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+ 720,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "manufacturer": "Lucid",
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+ "model": "Phoenix 1.6 MP Model (IMX273)",
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+ "exposure": 1800.0,
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+ "serial": "242200036"
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+ }
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+ },
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+ "observation.images.wrist_right": {
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+ "dtype": "video",
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+ "shape": [
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+ 540,
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "manufacturer": "Lucid",
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+ "model": "Phoenix 1.6 MP Model (IMX273)",
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+ "exposure": 1800.0,
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+ "serial": "242200039"
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+ }
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+ },
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+ "observation.timestamps": {
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+ "dtype": "float32",
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+ "shape": [
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+ 4
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+ ],
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+ "names": [
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+ "robot",
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+ "camera_side",
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+ "camera_wrist_left",
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+ "camera_wrist_right"
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+ ]
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "frame_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "episode_index": {
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+ "shape": [
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+ ],
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+ "names": null
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+ },
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+ "task_index": {
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ }
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+ }
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+ }
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+ ```
221
+
222
+
223
+ ## Citation
224
+
225
+ **BibTeX:**
226
+
227
+ ```bibtex
228
+ [More Information Needed]
229
+ ```
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