Hugging Face's logo

Datasets:
jinukoo
/
towel_folding_val

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
towel_folding
real
ur5
lerobot
split:val
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
Community
Dataset Viewer
Auto-converted to Parquet
Search is not available for this dataset
camera_0
imagewidth (px)
320
320
camera_1
imagewidth (px)
320
320
camera_2
imagewidth (px)
320
320
robot_eef_pose
list
gripper_state
float32
0
1
actions
list
timestamp
float32
0
16.5
frame_index
int64
0
165
episode_index
int64
0
0
index
int64
0
165
task_index
int64
0
0
[ -0.5052199363708496, 0.023995190858840942, 0.21912024915218353, -2.0715372562408447, -2.303989887237549, -0.17106793820858002 ]
0
[ -0.505230724811554, 0.023964740335941315, 0.2188376486301422, -2.072317123413086, -2.3015522956848145, -0.17240862548351288, 0 ]
0
0
0
0
0
[ -0.505213737487793, 0.02398899756371975, 0.2188965380191803, -2.072382926940918, -2.3018195629119873, -0.17226502299308777 ]
0
[ -0.505230724811554, 0.023964740335941315, 0.21858763694763184, -2.073090076446533, -2.299541473388672, -0.173529252409935, 0 ]
0.1
1
0
1
0
[ -0.5052079558372498, 0.02399400621652603, 0.2186610996723175, -2.0730247497558594, -2.300048351287842, -0.17331479489803314 ]
0
[ -0.505230724811554, 0.023964740335941315, 0.21833764016628265, -2.0738608837127686, -2.297530174255371, -0.17464913427829742, 0 ]
0.2
2
0
2
0
[ -0.5052205920219421, 0.023951001465320587, 0.21837201714515686, -2.0738067626953125, -2.2980592250823975, -0.17445528507232666 ]
0
[ -0.505230724811554, 0.023964740335941315, 0.21808764338493347, -2.07463002204895, -2.295518398284912, -0.17576824128627777, 0 ]
0.3
3
0
3
0
[ -0.5053074359893799, 0.023961426690220833, 0.2181737869977951, -2.074586868286133, -2.296086549758911, -0.17556197941303253 ]
0
[ -0.5057807564735413, 0.023964740335941315, 0.21808764338493347, -2.075397253036499, -2.293506145477295, -0.17688660323619843, 0 ]
0.4
4
0
4
0
[ -0.5055965781211853, 0.024024249985814095, 0.21793314814567566, -2.075524091720581, -2.2940785884857178, -0.17684604227542877 ]
0
[ -0.5057807564735413, 0.024214740842580795, 0.21768763661384583, -2.0764431953430176, -2.2918338775634766, -0.17733819782733917, 0 ]
0.5
5
0
5
0
[ -0.5057463049888611, 0.024154063314199448, 0.217823788523674, -2.0761375427246094, -2.2923765182495117, -0.17709073424339294 ]
0
[ -0.5057807564735413, 0.024314740672707558, 0.21768763661384583, -2.0775439739227295, -2.290229320526123, -0.17765647172927856, 0 ]
0.6
6
0
6
0
[ -0.5057780742645264, 0.024264466017484665, 0.21780608594417572, -2.0771732330322266, -2.290588855743408, -0.17745381593704224 ]
0
[ -0.5057807564735413, 0.02441474050283432, 0.21768763661384583, -2.07824969291687, -2.288147449493408, -0.1789054423570633, 0 ]
0.7
7
0
7
0
[ -0.5057999491691589, 0.02439899370074272, 0.2177574336528778, -2.0779666900634766, -2.288543462753296, -0.1785324364900589 ]
0
[ -0.5057807564735413, 0.02441474050283432, 0.21768763661384583, -2.078953266143799, -2.2860653400421143, -0.1801535040140152, 0 ]
0.8
8
0
8
0
[ -0.5057989954948425, 0.024651218205690384, 0.21768970787525177, -2.0787465572357178, -2.286482572555542, -0.17993450164794922 ]
0
[ -0.5057807564735413, 0.026014739647507668, 0.21768763661384583, -2.079259157180786, -2.2835052013397217, -0.1823289543390274, 0 ]
0.9
9
0
9
0
[ -0.5058062672615051, 0.025835832580924034, 0.21767839789390564, -2.079080104827881, -2.283977508544922, -0.18194882571697235 ]
0
[ -0.5057807564735413, 0.028014739975333214, 0.21768763661384583, -2.0793917179107666, -2.2807395458221436, -0.18489916622638702, 0 ]
1
10
0
10
0
[ -0.5058072209358215, 0.027835944667458534, 0.21770945191383362, -2.0795016288757324, -2.2809176445007324, -0.18442140519618988 ]
0
[ -0.5057807564735413, 0.03051474131643772, 0.21768763661384583, -2.0797479152679443, -2.2782461643218994, -0.1869376003742218, 0 ]
1.1
11
0
11
0
[ -0.505765974521637, 0.030206656083464622, 0.2176702916622162, -2.0797061920166016, -2.2786190509796143, -0.18677853047847748 ]
0
[ -0.5057807564735413, 0.033214740455150604, 0.2175876498222351, -2.079986810684204, -2.2756154537200928, -0.1892378181219101, 0 ]
1.2
12
0
12
0
[ -0.5057498812675476, 0.03295312076807022, 0.2176005244255066, -2.0799219608306885, -2.2759435176849365, -0.18935807049274445 ]
0
[ -0.5057807564735413, 0.03596474230289459, 0.2175876498222351, -2.0799367427825928, -2.272641658782959, -0.19219395518302917, 0 ]
1.3
13
0
13
0
[ -0.5057442784309387, 0.03564368188381195, 0.2175167053937912, -2.0800352096557617, -2.273188829421997, -0.19193494319915771 ]
0
[ -0.5057807564735413, 0.03921474143862724, 0.21733763813972473, -2.0799968242645264, -2.269803524017334, -0.1948830485343933, 0 ]
1.4
14
0
14
0
[ -0.5057660341262817, 0.03894985839724541, 0.21728964149951935, -2.0800774097442627, -2.2702887058258057, -0.19461330771446228 ]
0
[ -0.5057807564735413, 0.0429147407412529, 0.21698763966560364, -2.080397605895996, -2.267376184463501, -0.19678115844726562, 0 ]
1.5
15
0
15
0
[ -0.505757212638855, 0.042672645300626755, 0.2169821858406067, -2.0800931453704834, -2.2682230472564697, -0.19638054072856903 ]
0
[ -0.5057807564735413, 0.04806474223732948, 0.21653763949871063, -2.07919979095459, -2.267357587814331, -0.1974087506532669, 0 ]
1.6
16
0
16
0
[ -0.505735456943512, 0.04774963855743408, 0.21655447781085968, -2.0779998302459717, -2.268470048904419, -0.19707469642162323 ]
0
[ -0.5056307315826416, 0.054314740002155304, 0.215887650847435, -2.0702972412109375, -2.273310661315918, -0.19706471264362335, 0 ]
1.7
17
0
17
0
[ -0.5055313110351562, 0.05336039140820503, 0.21604301035404205, -2.070596218109131, -2.273780584335327, -0.19681169092655182 ]
0
[ -0.5046307444572449, 0.06051474064588547, 0.215887650847435, -2.0580639839172363, -2.284850835800171, -0.19454897940158844, 0 ]
1.8
18
0
18
0
[ -0.5047351717948914, 0.05979641154408455, 0.2158515453338623, -2.0593414306640625, -2.2837300300598145, -0.19504179060459137 ]
0
[ -0.5036307573318481, 0.06666474044322968, 0.215887650847435, -2.0454318523406982, -2.2953310012817383, -0.19348694384098053, 0 ]
1.9
19
0
19
0
[ -0.5038191676139832, 0.06577545404434204, 0.21585580706596375, -2.0471858978271484, -2.2939724922180176, -0.19352063536643982 ]
0
[ -0.5027307271957397, 0.07296474277973175, 0.215887650847435, -2.0322842597961426, -2.305699586868286, -0.19189272820949554, 0 ]
2
20
0
20
0
[ -0.5028228163719177, 0.07157720625400543, 0.2158733606338501, -2.0344529151916504, -2.3040075302124023, -0.19160521030426025 ]
0
[ -0.5011307597160339, 0.07891473919153214, 0.215887650847435, -2.01786732673645, -2.314760684967041, -0.18759629130363464, 0 ]
2.1
21
0
21
0
[ -0.5012950897216797, 0.07807991653680801, 0.21595603227615356, -2.0202524662017822, -2.3130760192871094, -0.18746621906757355 ]
0
[ -0.4993307292461395, 0.08506473898887634, 0.215887650847435, -2.0045125484466553, -2.3213605880737305, -0.18160788714885712, 0 ]
2.2
22
0
22
0
[ -0.49972817301750183, 0.08391084522008896, 0.21593891084194183, -2.0070698261260986, -2.320289134979248, -0.18222613632678986 ]
0
[ -0.49773073196411133, 0.09146474301815033, 0.215887650847435, -1.991702914237976, -2.3283071517944336, -0.174822136759758, 0 ]
2.3
23
0
23
0
[ -0.4978564977645874, 0.09045885503292084, 0.21591565012931824, -1.9940969944000244, -2.327176332473755, -0.17489409446716309 ]
0
[ -0.4954807460308075, 0.09736473858356476, 0.215887650847435, -1.98302161693573, -2.332775592803955, -0.1632516235113144, 0 ]
2.4
24
0
24
0
[ -0.4959137737751007, 0.0963546484708786, 0.2159031182527542, -1.9846428632736206, -2.3314435482025146, -0.1648406982421875 ]
0
[ -0.4936307370662689, 0.1033647432923317, 0.215887650847435, -1.9725970029830933, -2.3348281383514404, -0.14749038219451904, 0 ]
2.5
25
0
25
0
[ -0.4940241575241089, 0.10252580791711807, 0.21593251824378967, -1.9736604690551758, -2.3343617916107178, -0.14886337518692017 ]
0
[ -0.4922807514667511, 0.1095147430896759, 0.215887650847435, -1.961755394935608, -2.335392475128174, -0.12815266847610474, 0 ]
2.6
26
0
26
0
[ -0.49263322353363037, 0.10841220617294312, 0.21589307487010956, -1.9638545513153076, -2.334934711456299, -0.1311834305524826 ]
0
[ -0.4913807511329651, 0.11576474457979202, 0.215887650847435, -1.9511981010437012, -2.3332762718200684, -0.10552742332220078, 0 ]
2.7
27
0
27
0
[ -0.49158114194869995, 0.11482954770326614, 0.2159082442522049, -1.9524363279342651, -2.3335959911346436, -0.10835167020559311 ]
0
[ -0.4906807541847229, 0.12191474437713623, 0.215887650847435, -1.9410288333892822, -2.330030918121338, -0.08195988088846207, 0 ]
2.8
28
0
28
0
[ -0.4908951222896576, 0.12080930918455124, 0.21591345965862274, -1.943090796470642, -2.33046555519104, -0.08607104420661926 ]
0
[ -0.49038073420524597, 0.12781473994255066, 0.21578764915466309, -1.9308074712753296, -2.326356887817383, -0.058298710733652115, 0 ]
2.9
29
0
29
0
[ -0.4904865324497223, 0.12689420580863953, 0.215728759765625, -1.9322150945663452, -2.327061653137207, -0.0612332820892334 ]
0
[ -0.490130752325058, 0.13371475040912628, 0.21523764729499817, -1.9208378791809082, -2.3222570419311523, -0.03338339924812317, 0 ]
3
30
0
30
0
[ -0.49018722772598267, 0.13300535082817078, 0.21518880128860474, -1.9220993518829346, -2.322617769241333, -0.03588060289621353 ]
0
[ -0.4900307357311249, 0.13926474750041962, 0.21433764696121216, -1.9112672805786133, -2.316493511199951, -0.0076607284136116505, 0 ]
3.1
31
0
31
0
[ -0.4900002181529999, 0.13829900324344635, 0.21421362459659576, -1.9127355813980103, -2.317458152770996, -0.01121041364967823 ]
0
[ -0.4895307421684265, 0.1440647393465042, 0.21228764951229095, -1.902389645576477, -2.309425115585327, 0.0191587395966053, 0 ]
3.2
32
0
32
0
[ -0.48968255519866943, 0.14290378987789154, 0.21253350377082825, -1.9050352573394775, -2.311480760574341, 0.014449559152126312 ]
0
[ -0.48928073048591614, 0.14671474695205688, 0.20918764173984528, -1.9003225564956665, -2.3086676597595215, 0.04719795659184456, 0 ]
3.3
33
0
33
0
[ -0.48930877447128296, 0.14619441330432892, 0.20937579870224, -1.9013365507125854, -2.3092875480651855, 0.0426207073032856 ]
0
[ -0.48903074860572815, 0.14861474931240082, 0.20548763871192932, -1.8991105556488037, -2.308145761489868, 0.07173237204551697, 0 ]
3.4
34
0
34
0
[ -0.4890251159667969, 0.14798229932785034, 0.2060084193944931, -1.899405598640442, -2.3085906505584717, 0.06674592941999435 ]
0
[ -0.48823073506355286, 0.1487647444009781, 0.20068764686584473, -1.8979617357254028, -2.3092126846313477, 0.0946483165025711, 0 ]
3.5
35
0
35
0
[ -0.4877426028251648, 0.14860908687114716, 0.2013799250125885, -1.8982723951339722, -2.309312582015991, 0.09017198532819748 ]
0
[ -0.4839807450771332, 0.14826475083827972, 0.19633764028549194, -1.8972193002700806, -2.3116061687469482, 0.1092299073934555, 0 ]
3.6
36
0
36
0
[ -0.48475325107574463, 0.1483517438173294, 0.19722767174243927, -1.8976532220840454, -2.3113198280334473, 0.10576597601175308 ]
0
[ -0.4807807505130768, 0.14751474559307098, 0.19258764386177063, -1.8975729942321777, -2.31467604637146, 0.12119545042514801, 0 ]
3.7
37
0
37
0
[ -0.4813840687274933, 0.14771389961242676, 0.19308814406394958, -1.8976941108703613, -2.314328908920288, 0.1192517876625061 ]
0
[ -0.47843074798583984, 0.14701473712921143, 0.18878763914108276, -1.8982009887695312, -2.3181276321411133, 0.13237594068050385, 0 ]
3.8
38
0
38
0
[ -0.4789576530456543, 0.14714375138282776, 0.18944422900676727, -1.8979185819625854, -2.317654609680176, 0.130348339676857 ]
0
[ -0.47648075222969055, 0.1468147486448288, 0.18458764255046844, -1.8973796367645264, -2.3222267627716064, 0.1428264081478119, 0 ]
3.9
39
0
39
0
[ -0.47652968764305115, 0.1469505876302719, 0.18488800525665283, -1.8960940837860107, -2.3217034339904785, 0.140674889087677 ]
0
[ -0.47283074259757996, 0.14741474390029907, 0.17868764698505402, -1.889792799949646, -2.3262178897857666, 0.1484866589307785, 0 ]
4
40
0
40
0
[ -0.47346556186676025, 0.14762185513973236, 0.17987973988056183, -1.8905998468399048, -2.325190544128418, 0.14699816703796387 ]
0
[ -0.46908074617385864, 0.1503647416830063, 0.17383764684200287, -1.8813754320144653, -2.3268380165100098, 0.15236824750900269, 0 ]
4.1
41
0
41
0
[ -0.46969476342201233, 0.15007469058036804, 0.17465247213840485, -1.8826475143432617, -2.3262486457824707, 0.1516333520412445 ]
0
[ -0.46588075160980225, 0.15351474285125732, 0.16988764703273773, -1.8740090131759644, -2.324256658554077, 0.1568223536014557, 0 ]
4.2
42
0
42
0
[ -0.46682870388031006, 0.15266312658786774, 0.17093230783939362, -1.8754633665084839, -2.3238637447357178, 0.15540963411331177 ]
0
[ -0.4650307297706604, 0.15396474301815033, 0.16768763959407806, -1.8675198554992676, -2.3177363872528076, 0.15751004219055176, 0 ]
4.3
43
0
43
0
[ -0.4655498266220093, 0.15380322933197021, 0.16835574805736542, -1.8688859939575195, -2.319164514541626, 0.15709112584590912 ]
0
[ -0.46613073348999023, 0.15441474318504333, 0.16733764111995697, -1.8642241954803467, -2.314873218536377, 0.15638449788093567, 0 ]
4.4
44
0
44
0
[ -0.4659031629562378, 0.15436847507953644, 0.1673944592475891, -1.8655377626419067, -2.3156983852386475, 0.15642817318439484 ]
0
[ -0.4667307436466217, 0.15486474335193634, 0.1667376458644867, -1.8625632524490356, -2.3137338161468506, 0.15549790859222412, 0 ]
4.5
45
0
45
0
[ -0.46654796600341797, 0.15479367971420288, 0.16656804084777832, -1.8627538681030273, -2.313422441482544, 0.1565452218055725 ]
0
[ -0.4669307470321655, 0.15516474843025208, 0.16473764181137085, -1.8592246770858765, -2.3101038932800293, 0.16000494360923767, 0 ]
4.6
46
0
46
0
[ -0.4668968617916107, 0.15516287088394165, 0.16502484679222107, -1.859696626663208, -2.3103015422821045, 0.16000443696975708 ]
0
[ -0.46713075041770935, 0.15606474876403809, 0.1623876392841339, -1.8543057441711426, -2.3044180870056152, 0.16727548837661743, 0 ]
4.7
47
0
47
0
[ -0.4671061038970947, 0.1560208946466446, 0.16260458528995514, -1.8551571369171143, -2.3049967288970947, 0.16647273302078247 ]
0
[ -0.4673307538032532, 0.15701474249362946, 0.1595376431941986, -1.850042462348938, -2.299170732498169, 0.17646409571170807, 0 ]
4.8
48
0
48
0
[ -0.46729788184165955, 0.15685535967350006, 0.15985660254955292, -1.8513762950897217, -2.3004257678985596, 0.17529022693634033 ]
0
[ -0.4675307273864746, 0.15761473774909973, 0.15538763999938965, -1.8492002487182617, -2.2968051433563232, 0.19091297686100006, 0 ]
4.9
49
0
49
0
[ -0.46754181385040283, 0.15755532681941986, 0.15592852234840393, -1.849778413772583, -2.297534942626953, 0.1892745941877365 ]
0
[ -0.46773073077201843, 0.1581147462129593, 0.15108764171600342, -1.8510254621505737, -2.2969322204589844, 0.20718540251255035, 0 ]
5
50
0
50
0
[ -0.4677305221557617, 0.15802474319934845, 0.15184016525745392, -1.850767970085144, -2.297173023223877, 0.20427532494068146 ]
0
[ -0.46793073415756226, 0.15876474976539612, 0.146537646651268, -1.8536245822906494, -2.2977240085601807, 0.22423362731933594, 0 ]
5.1
51
0
51
0
[ -0.4677758812904358, 0.15861618518829346, 0.14716193079948425, -1.853257417678833, -2.2980170249938965, 0.2220229208469391 ]
0
[ -0.46723073720932007, 0.15931473672389984, 0.14223764836788177, -1.8569599390029907, -2.2992100715637207, 0.2414350062608719, 0 ]
5.2
52
0
52
0
[ -0.4673844873905182, 0.15916936099529266, 0.14328445494174957, -1.8562544584274292, -2.2988805770874023, 0.2370971292257309 ]
0
[ -0.4670807421207428, 0.15931473672389984, 0.14023764431476593, -1.8581510782241821, -2.2996459007263184, 0.25058919191360474, 0 ]
5.3
53
0
53
0
[ -0.46712324023246765, 0.15932917594909668, 0.140568807721138, -1.8577709197998047, -2.2992770671844482, 0.24850036203861237 ]
0
[ -0.4669307470321655, 0.15931473672389984, 0.13808764517307281, -1.8577995300292969, -2.299058198928833, 0.25611987709999084, 0 ]
5.4
54
0
54
0
[ -0.466974139213562, 0.15934288501739502, 0.13868354260921478, -1.8578095436096191, -2.2987349033355713, 0.25477737188339233 ]
0
[ -0.46678075194358826, 0.15931473672389984, 0.1371876448392868, -1.8559962511062622, -2.297407865524292, 0.2590502202510834, 0 ]
5.5
55
0
55
0
[ -0.4668106436729431, 0.1593066304922104, 0.1375068575143814, -1.856408715248108, -2.297398805618286, 0.25849848985671997 ]
0
[ -0.4666307270526886, 0.15931473672389984, 0.1368376463651657, -1.8546547889709473, -2.2963039875030518, 0.26124709844589233, 0 ]
5.6
56
0
56
0
[ -0.46665284037590027, 0.15930508077144623, 0.1369551420211792, -1.8548431396484375, -2.296349048614502, 0.260714054107666 ]
0
[ -0.46648073196411133, 0.15931473672389984, 0.13648764789104462, -1.852849006652832, -2.294649362564087, 0.2641700804233551, 0 ]
5.7
57
0
57
0
[ -0.4665057957172394, 0.15929436683654785, 0.13637007772922516, -1.8530972003936768, -2.2947745323181152, 0.26298555731773376 ]
0
[ -0.46633073687553406, 0.15931473672389984, 0.1354876458644867, -1.8500343561172485, -2.292640209197998, 0.2626335024833679, 0 ]
5.8
58
0
58
0
[ -0.4663776159286499, 0.15932556986808777, 0.13572269678115845, -1.8508738279342651, -2.293048858642578, 0.2634042799472809 ]
0
[ -0.4661807417869568, 0.15931473672389984, 0.13533763587474823, -1.8484783172607422, -2.291435480117798, 0.26400312781333923, 0 ]
5.9
59
0
59
0
[ -0.46616804599761963, 0.15934789180755615, 0.1353355497121811, -1.8492757081985474, -2.291832685470581, 0.26391080021858215 ]
0
[ -0.4660307466983795, 0.15931473672389984, 0.1352376490831375, -1.8479119539260864, -2.2914111614227295, 0.26381558179855347, 0 ]
6
60
0
60
0
[ -0.46603599190711975, 0.1593565195798874, 0.13519054651260376, -1.84824800491333, -2.291630983352661, 0.2637888193130493 ]
0
[ -0.46588075160980225, 0.15931473672389984, 0.1351376473903656, -1.8473457098007202, -2.291386604309082, 0.2636280655860901, 0 ]
6.1
61
0
61
0
[ -0.4658949077129364, 0.15934573113918304, 0.13511696457862854, -1.8476353883743286, -2.2914364337921143, 0.26352959871292114 ]
0
[ -0.4657307267189026, 0.15931473672389984, 0.1350376456975937, -1.846779465675354, -2.2913620471954346, 0.2634405791759491, 0 ]
6.2
62
0
62
0
[ -0.46576255559921265, 0.15929625928401947, 0.1350536346435547, -1.84697687625885, -2.2914748191833496, 0.2636305093765259 ]
1
[ -0.4655807316303253, 0.15931473672389984, 0.13493764400482178, -1.8462132215499878, -2.291337251663208, 0.2632531225681305, 0 ]
6.3
63
0
63
0
[ -0.4655988812446594, 0.1593003273010254, 0.13491980731487274, -1.8468170166015625, -2.291410207748413, 0.2633363604545593 ]
1
[ -0.505230724811554, 0.023964740335941315, 0.2188376486301422, -2.072317123413086, -2.3015522956848145, -0.17240862548351288, 0 ]
6.4
64
0
64
0
[ -0.4655701518058777, 0.1593588888645172, 0.13491658866405487, -1.8464661836624146, -2.291240692138672, 0.26306644082069397 ]
1
[ -0.46543073654174805, 0.15931473672389984, 0.13483764231204987, -1.8456469774246216, -2.2913124561309814, 0.2630656659603119, 1 ]
6.5
65
0
65
0
[ -0.4654272794723511, 0.15932971239089966, 0.13483284413814545, -1.8459374904632568, -2.2912662029266357, 0.26300328969955444 ]
1
[ -0.4652807414531708, 0.15931473672389984, 0.13473764061927795, -1.845080852508545, -2.291287422180176, 0.26287826895713806, 1 ]
6.6
66
0
66
0
[ -0.4652806222438812, 0.15929214656352997, 0.13473151624202728, -1.8452470302581787, -2.2914133071899414, 0.26297685503959656 ]
1
[ -0.4651307463645935, 0.15931473672389984, 0.13463763892650604, -1.8445147275924683, -2.29126238822937, 0.2626909017562866, 1 ]
6.7
67
0
67
0
[ -0.4651356339454651, 0.15930303931236267, 0.13462239503860474, -1.844772458076477, -2.2913360595703125, 0.2627740204334259 ]
1
[ -0.46498075127601624, 0.15931473672389984, 0.13453763723373413, -1.8439486026763916, -2.2912373542785645, 0.26250356435775757, 1 ]
6.8
68
0
68
0
[ -0.46500593423843384, 0.159279927611351, 0.1345197856426239, -1.8442013263702393, -2.2913272380828857, 0.2626776695251465 ]
1
[ -0.4648307263851166, 0.15931473672389984, 0.13443763554096222, -1.8433825969696045, -2.2912120819091797, 0.2623162269592285, 1 ]
6.9
69
0
69
0
[ -0.4648521840572357, 0.1592692732810974, 0.13443711400032043, -1.8436099290847778, -2.2913498878479004, 0.2624483108520508 ]
1
[ -0.4646807312965393, 0.15931473672389984, 0.1343376487493515, -1.8428164720535278, -2.291186571121216, 0.26212894916534424, 1 ]
7
70
0
70
0
[ -0.46470656991004944, 0.15923447906970978, 0.134309783577919, -1.842969298362732, -2.2914962768554688, 0.2623838186264038 ]
1
[ -0.46453073620796204, 0.15931473672389984, 0.1342376470565796, -1.8422504663467407, -2.291161298751831, 0.26194167137145996, 1 ]
7.1
71
0
71
0
[ -0.46456390619277954, 0.1593022644519806, 0.13424071669578552, -1.8424783945083618, -2.291182041168213, 0.2619194984436035 ]
1
[ -0.46438074111938477, 0.15931473672389984, 0.13413764536380768, -1.8416845798492432, -2.291135549545288, 0.26175445318222046, 1 ]
7.2
72
0
72
0
[ -0.46417754888534546, 0.15898919105529785, 0.13431233167648315, -1.8415192365646362, -2.2913317680358887, 0.2618822157382965 ]
1
[ -0.4628807306289673, 0.1578647494316101, 0.1346876472234726, -1.841118574142456, -2.291109800338745, 0.26156726479530334, 1 ]
7.3
73
0
73
0
[ -0.46299803256988525, 0.1580793708562851, 0.13483218848705292, -1.840397834777832, -2.291325807571411, 0.2618156671524048 ]
1
[ -0.46098074316978455, 0.1573147475719452, 0.13578763604164124, -1.8405526876449585, -2.291084051132202, 0.26138007640838623, 1 ]
7.4
74
0
74
0
[ -0.4613521099090576, 0.1574299931526184, 0.1358356773853302, -1.840215802192688, -2.291334867477417, 0.2616615295410156 ]
1
[ -0.4595307409763336, 0.157064750790596, 0.137887641787529, -1.839986801147461, -2.29105806350708, 0.2611929476261139, 1 ]
7.5
75
0
75
0
[ -0.45981621742248535, 0.15718600153923035, 0.13785487413406372, -1.840071201324463, -2.2909460067749023, 0.2612057328224182 ]
1
[ -0.4586307406425476, 0.15681473910808563, 0.1408376395702362, -1.839421033859253, -2.291032075881958, 0.26100581884384155, 1 ]
7.6
76
0
76
0
[ -0.45880740880966187, 0.15691839158535004, 0.1404716819524765, -1.8397728204727173, -2.290943145751953, 0.261220782995224 ]
1
[ -0.457980751991272, 0.15656474232673645, 0.14398764073848724, -1.8395397663116455, -2.2914164066314697, 0.26253649592399597, 1 ]
7.7
77
0
77
0
[ -0.457912802696228, 0.15667632222175598, 0.14360052347183228, -1.8396884202957153, -2.2913010120391846, 0.26200392842292786 ]
1
[ -0.4566807448863983, 0.15631474554538727, 0.14713764190673828, -1.8396580219268799, -2.2918002605438232, 0.26406756043434143, 1 ]
7.8
78
0
78
0
[ -0.45680686831474304, 0.1563805788755417, 0.14657895267009735, -1.839748501777649, -2.2917122840881348, 0.2636311948299408 ]
1
[ -0.45513075590133667, 0.15606474876403809, 0.14958764612674713, -1.8390809297561646, -2.293694257736206, 0.265918493270874, 1 ]
7.9
79
0
79
0
[ -0.45527055859565735, 0.15610100328922272, 0.1492803990840912, -1.839666485786438, -2.2932658195495605, 0.2657087743282318 ]
1
[ -0.4534807503223419, 0.1558147370815277, 0.15193764865398407, -1.8396915197372437, -2.295670986175537, 0.2682916820049286, 1 ]
8
80
0
80
0
[ -0.45380061864852905, 0.15585008263587952, 0.15167288482189178, -1.840002417564392, -2.2953083515167236, 0.26797202229499817 ]
1
[ -0.452280730009079, 0.15556474030017853, 0.15478764474391937, -1.840613603591919, -2.2985026836395264, 0.27026695013046265, 1 ]
8.1
81
0
81
0
[ -0.4526529312133789, 0.15564359724521637, 0.15422262251377106, -1.8404923677444458, -2.2978265285491943, 0.26994243264198303 ]
1
[ -0.4517807364463806, 0.15531474351882935, 0.1570376455783844, -1.8417716026306152, -2.302065849304199, 0.272194504737854, 1 ]
8.2
82
0
82
0
[ -0.45198819041252136, 0.15534938871860504, 0.15655989944934845, -1.8415346145629883, -2.301504373550415, 0.2716122567653656 ]
1
[ -0.45163074135780334, 0.1549147367477417, 0.15918764472007751, -1.8423093557357788, -2.3077776432037354, 0.27226823568344116, 1 ]
8.3
83
0
83
0
[ -0.4517236351966858, 0.15495352447032928, 0.15867166221141815, -1.841956615447998, -2.3065125942230225, 0.2719600796699524 ]
1
[ -0.4514807462692261, 0.15416474640369415, 0.16168764233589172, -1.8431165218353271, -2.3141276836395264, 0.2714879512786865, 1 ]
8.4
84
0
84
0
[ -0.45149943232536316, 0.15416640043258667, 0.16133970022201538, -1.8430421352386475, -2.3131439685821533, 0.2713763117790222 ]
1
[ -0.4513307511806488, 0.1528647392988205, 0.16418763995170593, -1.8442882299423218, -2.319399833679199, 0.2703404128551483, 1 ]
8.5
85
0
85
0
[ -0.45134037733078003, 0.15300945937633514, 0.16376221179962158, -1.8442728519439697, -2.318363666534424, 0.27030351758003235 ]
1
[ -0.45118072628974915, 0.15086475014686584, 0.1671876460313797, -1.8460780382156372, -2.324644088745117, 0.2683342397212982, 1 ]
8.6
86
0
86
0
[ -0.45120474696159363, 0.15116432309150696, 0.16692595183849335, -1.8455228805541992, -2.324002265930176, 0.2682104706764221 ]
1
[ -0.4510307312011719, 0.14866474270820618, 0.1707376390695572, -1.8485321998596191, -2.3298490047454834, 0.2658611536026001, 1 ]
8.7
87
0
87
0
[ -0.45107147097587585, 0.14919351041316986, 0.17018091678619385, -1.8483669757843018, -2.3286092281341553, 0.2661536931991577 ]
1
[ -0.4508807361125946, 0.14666473865509033, 0.17453764379024506, -1.853187084197998, -2.3345251083374023, 0.2646729648113251, 1 ]
8.8
88
0
88
0
[ -0.4508832097053528, 0.1470755934715271, 0.17403939366340637, -1.8526861667633057, -2.333681583404541, 0.26469701528549194 ]
1
[ -0.45058074593544006, 0.14496473968029022, 0.17833764851093292, -1.8579951524734497, -2.339262008666992, 0.26416653394699097, 1 ]
8.9
89
0
89
0
[ -0.4506377577781677, 0.14530004560947418, 0.17765681445598602, -1.8569979667663574, -2.338236093521118, 0.2642509341239929 ]
1
[ -0.4501807391643524, 0.14331474900245667, 0.18208764493465424, -1.8620721101760864, -2.343316078186035, 0.26340362429618835, 1 ]
9
90
0
90
0
[ -0.4502406120300293, 0.14359736442565918, 0.18164575099945068, -1.8617995977401733, -2.3429641723632812, 0.26367291808128357 ]
1
[ -0.44978073239326477, 0.142014741897583, 0.18618763983249664, -1.8676034212112427, -2.3486883640289307, 0.26339206099510193, 1 ]
9.1
91
0
91
0
[ -0.4497964680194855, 0.142286017537117, 0.1853998899459839, -1.866286039352417, -2.347729444503784, 0.2635422945022583 ]
1
[ -0.44868072867393494, 0.14091473817825317, 0.1898876428604126, -1.8719109296798706, -2.352794885635376, 0.2641112804412842, 1 ]
9.2
92
0
92
0
[ -0.4487566351890564, 0.14105065166950226, 0.1893664449453354, -1.8710341453552246, -2.35225248336792, 0.2639789283275604 ]
1
[ -0.44728073477745056, 0.13966473937034607, 0.19358764588832855, -1.8756788969039917, -2.3564085960388184, 0.2645151913166046, 1 ]
9.3
93
0
93
0
[ -0.4475310146808624, 0.13985344767570496, 0.19290781021118164, -1.8746070861816406, -2.355858564376831, 0.2642034590244293 ]
1
[ -0.44593074917793274, 0.13796474039554596, 0.1972876489162445, -1.8785573244094849, -2.35922908782959, 0.26422321796417236, 1 ]
9.4
94
0
94
0
[ -0.44601327180862427, 0.13809239864349365, 0.1967644989490509, -1.8778958320617676, -2.3587539196014404, 0.2639423906803131 ]
1
[ -0.4440307319164276, 0.13571473956108093, 0.200837641954422, -1.8800604343414307, -2.3607990741729736, 0.2630650997161865, 1 ]
9.5
95
0
95
0
[ -0.4444151222705841, 0.1360994130373001, 0.20023173093795776, -1.8794916868209839, -2.3603100776672363, 0.26300323009490967 ]
1
[ -0.44228073954582214, 0.13326475024223328, 0.2044876366853714, -1.8810935020446777, -2.361952066421509, 0.261483758687973, 1 ]
9.6
96
0
96
0
[ -0.44252803921699524, 0.13356977701187134, 0.20407497882843018, -1.881071925163269, -2.361772298812866, 0.26185786724090576 ]
1
[ -0.4406307339668274, 0.13071474432945251, 0.20828764140605927, -1.8825956583023071, -2.3635215759277344, 0.2603222727775574, 1 ]
9.7
97
0
97
0
[ -0.4409591555595398, 0.13109463453292847, 0.2076757252216339, -1.882311463356018, -2.363283395767212, 0.2611027657985687 ]
1
[ -0.4389307498931885, 0.1281147450208664, 0.21208764612674713, -1.8839927911758423, -2.365015745162964, 0.2588636577129364, 1 ]
9.8
98
0
98
0
[ -0.43914133310317993, 0.12847520411014557, 0.2115720808506012, -1.883943796157837, -2.364841938018799, 0.25938844680786133 ]
1
[ -0.4371807277202606, 0.12566474080085754, 0.21573764085769653, -1.8857206106185913, -2.366774320602417, 0.2580362558364868, 1 ]
9.9
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": "ur5",
    "total_episodes": 1,
    "total_frames": 166,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "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": {
        "camera_0": {
            "dtype": "image",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "camera_1": {
            "dtype": "image",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "camera_2": {
            "dtype": "image",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "robot_eef_pose": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "pose"
            ]
        },
        "gripper_state": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper"
            ]
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "actions"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "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
        }
    }
}

Citation

BibTeX:

[More Information Needed]
Downloads last month
136
License:
apache-2.0
Size of downloaded dataset files:
66.3 MB
Size of the auto-converted Parquet files:
66.3 MB
Number of rows:
166