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observation.ur_tcp_pose
listlengths
6
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observation.ur_tool_state
float32
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observation.ur_wrench
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observation.ileader_tcp_pose
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observation.ileader_buttons
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observation.ileader_tool
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action.command_for_ur
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meta.t_target
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1.88
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1,779,815,005.21047
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1.9
95
0
95
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0.74902
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1,779,815,005.23047
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1.92
96
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0.74902
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1,779,815,005.25047
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1.94
97
0
97
0
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0.74902
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0.266667
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1,779,815,005.27047
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1.96
98
0
98
0
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0.74902
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0.266667
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1,779,815,005.29047
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1.98
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": null,
    "total_episodes": 131,
    "total_frames": 239219,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 50,
    "splits": {
        "train": "0:131"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "observation.ur_tcp_pose": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "position.x",
                "position.y",
                "position.z",
                "orientation.rx",
                "orientation.ry",
                "orientation.rz"
            ]
        },
        "observation.ur_tool_state": {
            "dtype": "float32",
            "shape": [
                1
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            "names": [
                "tool"
            ]
        },
        "observation.ur_wrench": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "force.x",
                "force.y",
                "force.z",
                "torque.x",
                "torque.y",
                "torque.z"
            ]
        },
        "observation.images.side": {
            "dtype": "video",
            "shape": [
                3,
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                355
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            "names": [
                "channels",
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            ],
            "info": {
                "video.height": 300,
                "video.width": 355,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.wrist_left": {
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                "width"
            ],
            "info": {
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                "video.codec": "av1",
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                "video.is_depth_map": false,
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        },
        "observation.images.wrist_right": {
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            "names": [
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            ],
            "info": {
                "video.height": 360,
                "video.width": 270,
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        },
        "observation.ileader_tcp_pose": {
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        "observation.ileader_buttons": {
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        "observation.ileader_tool": {
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            "names": [
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        },
        "action.command_for_ur": {
            "dtype": "float32",
            "shape": [
                7
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            "names": [
                "ur10e/tcp_position/position.x",
                "ur10e/tcp_position/position.y",
                "ur10e/tcp_position/position.z",
                "ur10e/tcp_position/orientation.rx",
                "ur10e/tcp_position/orientation.ry",
                "ur10e/tcp_position/orientation.rz",
                "ur10e/tool/tool"
            ]
        },
        "meta.t_target": {
            "dtype": "float64",
            "shape": [
                1
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            "names": null
        },
        "meta.source_timestamps": {
            "dtype": "float64",
            "shape": [
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            "names": [
                "observation.ur_tcp_pose",
                "observation.ur_tool_state",
                "observation.ur_wrench",
                "observation.images.side",
                "observation.images.wrist_left",
                "observation.images.wrist_right",
                "observation.ileader_tcp_pose",
                "observation.ileader_buttons",
                "observation.ileader_tool",
                "action.command_for_ur"
            ]
        },
        "timestamp": {
            "dtype": "float32",
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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