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--- |
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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: |
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- config_name: default |
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data_files: data/*/*.parquet |
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--- |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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## Dataset Description |
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- **Homepage:** [More Information Needed] |
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- **Paper:** [More Information Needed] |
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- **License:** apache-2.0 |
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## Dataset Structure |
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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": "ur10e", |
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"total_episodes": 24, |
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"total_frames": 6987, |
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"total_tasks": 1, |
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"total_videos": 72, |
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"total_chunks": 1, |
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"chunks_size": 1000, |
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"fps": 50, |
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"splits": { |
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"train": "0:24" |
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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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"observation.state.pose": { |
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"dtype": "float64", |
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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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"observation.state.tool": { |
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"dtype": "float64", |
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"shape": [ |
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1 |
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], |
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"names": [ |
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"tool" |
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] |
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}, |
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"observation.state.tcp_force": { |
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"dtype": "float64", |
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"shape": [ |
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3 |
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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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] |
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}, |
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"observation.state.tcp_torque": { |
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"dtype": "float64", |
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"shape": [ |
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3 |
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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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] |
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}, |
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"observation.state.joints": { |
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"dtype": "float64", |
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"shape": [ |
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6 |
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] |
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}, |
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"observation.images.side": { |
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"dtype": "video", |
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"shape": [ |
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3, |
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300, |
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355 |
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], |
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"info": { |
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"video.height": 300, |
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"video.width": 355, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 50, |
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"video.channels": 3, |
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"has_audio": false |
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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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3, |
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360, |
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270 |
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], |
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"info": { |
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"video.height": 360, |
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"video.width": 270, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 50, |
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"video.channels": 3, |
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"has_audio": false |
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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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3, |
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360, |
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270 |
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], |
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"info": { |
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"video.height": 360, |
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"video.width": 270, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 50, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"action.pose": { |
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"dtype": "float64", |
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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.tool": { |
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"dtype": "float64", |
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"shape": [ |
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1 |
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] |
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}, |
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"action.joints": { |
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"dtype": "float64", |
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"shape": [ |
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6 |
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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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"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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"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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"task_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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} |
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} |
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``` |
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## Citation |
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**BibTeX:** |
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```bibtex |
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[More Information Needed] |
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``` |
