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sequence | observation.state
sequence | observation.velocity
sequence | observation.gripper_position
sequence | timestamp
float32 0
3
| frame_index
int64 0
90
| episode_index
int64 0
0
| index
int64 0
90
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|---|---|
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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "bi_ur5",
"total_episodes": 1,
"total_frames": 91,
"total_tasks": 1,
"total_videos": 1,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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": {
"action": {
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14
],
"names": {
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"left_shoulder_lift",
"left_elbow_flex",
"left_wrist_1",
"left_wrist_2",
"left_wrist_3",
"left_gripper",
"right_shoulder_pan",
"right_shoulder_lift",
"right_elbow_flex",
"right_wrist_1",
"right_wrist_2",
"right_wrist_3",
"right_gripper"
]
}
},
"observation.state": {
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14
],
"names": {
"arms": [
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"left_shoulder_lift",
"left_elbow_flex",
"left_wrist_1",
"left_wrist_2",
"left_wrist_3",
"left_gripper",
"right_shoulder_pan",
"right_shoulder_lift",
"right_elbow_flex",
"right_wrist_1",
"right_wrist_2",
"right_wrist_3",
"right_gripper"
]
}
},
"observation.velocity": {
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"shape": [
14
],
"names": {
"arms": [
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"left_shoulder_lift",
"left_elbow_flex",
"left_wrist_1",
"left_wrist_2",
"left_wrist_3",
"left_gripper",
"right_shoulder_pan",
"right_shoulder_lift",
"right_elbow_flex",
"right_wrist_1",
"right_wrist_2",
"right_wrist_3",
"right_gripper"
]
}
},
"observation.gripper_position": {
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"shape": [
2
],
"names": {
"gripper": [
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"right_gripper"
]
}
},
"observation.images.top_rgb": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
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],
"names": null
},
"frame_index": {
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],
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},
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},
"index": {
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],
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},
"task_index": {
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"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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