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observation.state.pose
list
observation.state.tool
float64
0
1
observation.state.tcp_force
list
observation.state.tcp_torque
list
observation.state.joints
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action.pose
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action.tool
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1
action.joints
list
timestamp
float32
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20.4
frame_index
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1.02k
episode_index
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index
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1.86
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0
93
0
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1
[ -0.748699, -44.058884, 22.23958 ]
[ -2.172439, 0.019225, 0.14460499999999998 ]
[ -2.2307629585266113, -1.43417181194339, -2.778315607701437, -1.170221136217453, 1.5624431371688843, -0.7265117804156702 ]
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1
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1.88
94
0
94
0
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1
[ -0.6909409999999999, -44.146487, 22.301875 ]
[ -2.123214, 0.08047699999999999, 0.13993899999999998 ]
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1
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1.9
95
0
95
0
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1
[ -0.480658, -44.241352, 22.447744 ]
[ -2.088043, 0.125996, 0.140823 ]
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1
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1.92
96
0
96
0
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1
[ -0.394885, -44.370011999999996, 22.625574999999998 ]
[ -2.0881119999999997, 0.122179, 0.143195 ]
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1
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1.94
97
0
97
0
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1
[ -0.725707, -44.330233, 22.548189 ]
[ -2.097345, 0.07142, 0.142513 ]
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1
[ 0.0006191730499267578, 0.0016706585884094238, 0.0007290840148925781, -0.0016440749168395996, -0.001044154167175293, 0.0008711814880371094 ]
1.96
98
0
98
0
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1
[ -1.1765139999999998, -44.388458, 22.335473 ]
[ -2.1052299999999997, 0.010608, 0.134749 ]
[ -2.2283759117126465, -1.4274224054864426, -2.7749972979175013, -1.177366392021515, 1.5582743883132935, -0.7227457205401819 ]
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1
[ 0.0008459091186523438, 0.001668885350227356, 0.0008311271667480469, -0.0018489360809326172, -0.0009385347366333008, 0.0008087158203125 ]
1.98
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": "ur10e",
    "total_episodes": 1,
    "total_frames": 1442,
    "total_tasks": 1,
    "total_videos": 3,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:1"
    },
    "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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                "pitch",
                "yaw"
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        "observation.state.tool": {
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            "names": [
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        "observation.state.tcp_force": {
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            "names": [
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                "z"
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        },
        "observation.state.tcp_torque": {
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        "observation.state.joints": {
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        "observation.images.side": {
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        },
        "observation.images.wrist_left": {
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        },
        "observation.images.wrist_right": {
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        "action.pose": {
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        "timestamp": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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