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observation.state.pose
sequence
observation.state.gripper
float32
0
1
observation.state.joints
sequence
observation.timestamps
sequence
action.pose
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[ 0.000004202127456665039, -0.0000019585713744163513, 0.0000060051679611206055, -0.000009418239642400295, -0.00002056574339803774, -1.532919213786954e-7 ]
0
[ -1.3132822118677723e-7, -0.0000032954535527096596, -0.000009368220162286889, -0.000009955843779607676, 8.141213214685195e-8, 2.1698513208434633e-8 ]
3.84
96
0
96
0
[ 0.307465136051178, 0.005404772702604532, 0.20900335907936096, 0.0014511807821691036, 0.004230394493788481, 0.000029326711228350177 ]
0
[ -0.43305137753486633, -1.9609589576721191, 2.48636531829834, -2.0917539596557617, -1.5712544918060303, -0.4330766201019287 ]
[ 3.880000114440918, 3.880000114440918, 3.880000114440918, 3.880000114440918 ]
[ 0.000005900859832763672, -0.0000022742897272109985, 0.001386895775794983, -0.00001331123257841682, -0.00002925742228399031, -2.2498372231893882e-7 ]
0
[ 0.0000014123701248536236, -0.00265730288811028, -0.002685350365936756, 0.00531051168218255, 2.025478238465439e-7, 0.0000016366643649234902 ]
3.88
97
0
97
0
[ 0.30747103691101074, 0.005402498412877321, 0.21039025485515594, 0.0014378685737028718, 0.004201137460768223, 0.000029045411793049425 ]
0
[ -0.4330499768257141, -1.9636162519454956, 2.483680009841919, -2.0864434242248535, -1.5712542533874512, -0.4330749809741974 ]
[ 3.9200000762939453, 3.9200000762939453, 3.9200000762939453, 3.9200000762939453 ]
[ -0.0004023611545562744, 0.00019369600340723991, 0.021994128823280334, -0.00010310673678759485, -0.0002280317130498588, -0.0000018206529830422369 ]
0
[ 0.000024000666599022225, -0.03950349986553192, -0.04301249235868454, 0.08226575702428818, 0.000002210231969002052, 0.00002582383058324922 ]
3.92
98
0
98
0
[ 0.30706867575645447, 0.005596194416284561, 0.23238438367843628, 0.0013347544008865952, 0.003973108716309071, 0.000026791563868755475 ]
0
[ -0.43302595615386963, -2.003119707107544, 2.4406673908233643, -2.0041775703430176, -1.5712521076202393, -0.43304917216300964 ]
[ 3.9600000381469727, 3.9600000381469727, 3.9600000381469727, 3.9600000381469727 ]
[ -0.0009135901927947998, 0.00043132947757840157, 0.025920391082763672, -0.00011864695989061147, -0.0002624258631840348, -0.000002110770765284542 ]
0
[ 0.00002824480543495156, -0.038439296185970306, -0.05273912101984024, 0.09089044481515884, 0.0000025408492092537927, 0.00003036117232113611 ]
3.96
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": "simulation_ur5e",
    "total_episodes": 3,
    "total_frames": 352,
    "total_tasks": 1,
    "total_videos": 9,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "splits": {
        "train": "0:3"
    },
    "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": {
        "observation.state.pose": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "x",
                "y",
                "z",
                "roll",
                "pitch",
                "yaw"
            ]
        },
        "observation.state.gripper": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper"
            ]
        },
        "observation.state.joints": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "base",
                "shoulder",
                "elbow",
                "wrist1",
                "wrist2",
                "wrist3"
            ]
        },
        "observation.images.side": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_left": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_right": {
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            "shape": [
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                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.timestamps": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
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                "camera_side",
                "camera_wrist_left",
                "camera_wrist_right"
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        },
        "action.pose": {
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            "shape": [
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            ],
            "names": [
                "dx",
                "dy",
                "dz",
                "droll",
                "dpitch",
                "dyaw"
            ]
        },
        "action.gripper": {
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            "shape": [
                1
            ],
            "names": [
                "gripper"
            ]
        },
        "action.joints": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "base",
                "shoulder",
                "elbow",
                "wrist1",
                "wrist2",
                "wrist3"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
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            "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
        }
    }
}

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