Datasets:
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joints
sequence | gripper
float32 0.01
0.98
| actions
sequence | tcp_pose
sequence | target_tcp_pose
sequence | tcp_speed
sequence | target_tcp_speed
sequence | timestamp
float32 0
21.4
| frame_index
int64 0
214
| episode_index
int64 0
119
| index
int64 0
10.2k
| task_index
int64 0
2
|
|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "ur5",
"total_episodes": 40,
"total_frames": 4431,
"total_tasks": 2,
"total_videos": 80,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
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},
"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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"shape": [
240,
320,
3
],
"names": [
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],
"info": {
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"video.height": 240,
"video.width": 320,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"wrist_rgb": {
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"shape": [
240,
320,
3
],
"names": [
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"width",
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],
"info": {
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"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
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}
},
"joints": {
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},
"gripper": {
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},
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},
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},
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}
}
}
Citation
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