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joints
sequence | gripper
float32 | actions
sequence | tcp_pose
sequence | target_tcp_pose
sequence | tcp_speed
sequence | target_tcp_speed
sequence | timestamp
float32 | frame_index
int64 | episode_index
int64 | index
int64 | task_index
int64 |
|---|---|---|---|---|---|---|---|---|---|---|---|
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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": 30,
"total_frames": 7620,
"total_tasks": 2,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:30"
},
"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": {
"base_rgb": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
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"width",
"channel"
],
"info": {
"video.fps": 20.0,
"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": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 20.0,
"video.height": 240,
"video.width": 320,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"joints": {
"dtype": "float32",
"shape": [
6
],
"names": [
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]
},
"gripper": {
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1
],
"names": [
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]
},
"actions": {
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"shape": [
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},
"tcp_pose": {
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},
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},
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},
"timestamp": {
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},
"frame_index": {
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},
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},
"index": {
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},
"task_index": {
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}
}
}
Citation
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