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observation.state
list
action
list
timestamp
float32
0
114
frame_index
int64
0
571
episode_index
int64
0
0
index
int64
0
571
task_index
int64
0
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[ 0.061602238565683365, -1.9038068056106567, 2.1769845485687256, -1.7855232954025269, -1.614241361618042, 0.2031271606683731, 100, 0.2898598313331604, -1.445456862449646, -2.0052812099456787, -1.1914085149765015, -4.66519832611084, 3.423649311065674 ]
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0
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0.2
1
0
1
0
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0.4
2
0
2
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0.6
3
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3
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0.8
4
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4
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1
5
0
5
0
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1.2
6
0
6
0
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1.4
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7
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1.6
8
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8
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1.8
9
0
9
0
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2
10
0
10
0
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2.2
11
0
11
0
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2.4
12
0
12
0
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2.6
13
0
13
0
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2.8
14
0
14
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3
15
0
15
0
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3.2
16
0
16
0
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3.4
17
0
17
0
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3.6
18
0
18
0
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3.8
19
0
19
0
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4
20
0
20
0
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4.2
21
0
21
0
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4.4
22
0
22
0
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4.6
23
0
23
0
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4.8
24
0
24
0
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5
25
0
25
0
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5.2
26
0
26
0
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5.4
27
0
27
0
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5.6
28
0
28
0
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5.8
29
0
29
0
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6
30
0
30
0
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6.2
31
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31
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6.4
32
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32
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6.6
33
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33
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6.8
34
0
34
0
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7
35
0
35
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7.2
36
0
36
0
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7.4
37
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37
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7.6
38
0
38
0
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7.8
39
0
39
0
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8
40
0
40
0
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8.2
41
0
41
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8.4
42
0
42
0
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8.6
43
0
43
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8.8
44
0
44
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9
45
0
45
0
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9.2
46
0
46
0
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9.4
47
0
47
0
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9.6
48
0
48
0
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9.8
49
0
49
0
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10
50
0
50
0
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10.2
51
0
51
0
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10.4
52
0
52
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10.6
53
0
53
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10.8
54
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11
55
0
55
0
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11.2
56
0
56
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11.4
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11.6
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11.8
59
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59
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12
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60
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12.2
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12.4
62
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62
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12.6
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12.8
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13
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13.2
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13.4
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13.6
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13.8
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14
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14.2
71
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14.4
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14.6
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14.8
74
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15
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15.2
76
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15.4
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15.6
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15.8
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16
80
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16.200001
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16.4
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16.6
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16.799999
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17
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85
0
[ -0.7215557098388672, -1.1472430229187012, 1.5450489521026611, -1.777416706085205, -1.4406964778900146, -0.6013698577880859, 100, -0.1973894238471985, -2.35010027885437, -1.2438405752182007, -1.075879454612732, -4.639450550079346, 2.936983346939087 ]
[ -0.0028629302978515625, 0.015651226043701172, -0.024399399757385254, 0.05124032497406006, 0.04462587833404541, -0.012533783912658691, 0, 0.00006008148193359375, 0.00001239776611328125, -0.00008392333984375, 0, -0.000024318695068359375, 0.000024080276489257812 ]
17.200001
86
0
86
0
[ -0.7244186401367188, -1.131591796875, 1.5206495523452759, -1.726176381111145, -1.3960705995559692, -0.6139036417007446, 100, -0.1973293423652649, -2.350087881088257, -1.2439244985580444, -1.075879454612732, -4.639474868774414, 2.937007427215576 ]
[ -0.008311569690704346, -0.004795551300048828, 0.005209445953369141, 0.02562582492828369, 0.022238969802856445, -0.014622211456298828, 0, -0.0000362396240234375, -0.0000362396240234375, 0.00010824203491210938, 0.00002384185791015625, -0.000024318695068359375, 0 ]
17.4
87
0
87
0
[ -0.7327302098274231, -1.1363873481750488, 1.525858998298645, -1.7005505561828613, -1.3738316297531128, -0.6285258531570435, 100, -0.19736558198928833, -2.3501241207122803, -1.2438162565231323, -1.0758556127548218, -4.639499187469482, 2.937007427215576 ]
[ -0.007806599140167236, -0.02093660831451416, 0.029665827751159668, -0.0074269771575927734, -0.0015796422958374023, -0.0077686309814453125, 0, -0.000011920928955078125, -0.000011920928955078125, -0.00009584426879882812, -0.0000362396240234375, 0, 0.00002384185791015625 ]
17.6
88
0
88
0
[ -0.7405368089675903, -1.157323956489563, 1.5555248260498047, -1.707977533340454, -1.3754112720489502, -0.6362944841384888, 100, -0.1973775029182434, -2.3501360416412354, -1.2439121007919312, -1.0758918523788452, -4.639499187469482, 2.9370312690734863 ]
[ -0.0016289353370666504, -0.004066586494445801, 0.004784226417541504, -0.0011239051818847656, -0.00046694278717041016, -0.0016326904296875, 0, 0.00006008148193359375, -0.0000362396240234375, -0.00001239776611328125, 0.000048160552978515625, -0.000011920928955078125, -0.000035762786865234375 ]
17.799999
89
0
89
0
[ -0.742165744304657, -1.1613905429840088, 1.5603090524673462, -1.7091014385223389, -1.3758782148361206, -0.6379271745681763, 100, -0.19731742143630981, -2.350172281265259, -1.2439244985580444, -1.0758436918258667, -4.6395111083984375, 2.936995506286621 ]
[ 0.0011429190635681152, 0.0024262666702270508, -0.0036526918411254883, 0.0007063150405883789, 0.00015938282012939453, 0.0011618733406066895, 0, -0.000035762786865234375, 0.000011920928955078125, 0.00009632110595703125, 0.000011920928955078125, -0.00002384185791015625, -0.000023603439331054688...
18
90
0
90
0
[ -0.7410228252410889, -1.1589642763137817, 1.5566563606262207, -1.7083951234817505, -1.3757188320159912, -0.6367653012275696, 100, -0.19735318422317505, -2.3501603603363037, -1.2438281774520874, -1.0758317708969116, -4.639534950256348, 2.93697190284729 ]
[ 0.005953669548034668, 0.012435197830200195, -0.014819622039794922, 0.00162506103515625, 0.0015643835067749023, 0.005991637706756592, 0, -0.00001239776611328125, 0.000024318695068359375, -0.00008392333984375, -0.000011920928955078125, 0.000035762786865234375, 0.000011444091796875 ]
18.200001
91
0
91
0
[ -0.7350691556930542, -1.1465290784835815, 1.5418367385864258, -1.7067700624465942, -1.3741544485092163, -0.630773663520813, 100, -0.19736558198928833, -2.3501360416412354, -1.2439121007919312, -1.0758436918258667, -4.639499187469482, 2.936983346939087 ]
[ 0.006834566593170166, 0.013505816459655762, -0.015309453010559082, 0.00045943260192871094, 0.0017390251159667969, 0.006686508655548096, 0, -0.000011920928955078125, 0.000048160552978515625, 0, -0.000011920928955078125, -0.00002384185791015625, -0.000011444091796875 ]
18.4
92
0
92
0
[ -0.728234589099884, -1.1330232620239258, 1.5265272855758667, -1.7063106298446655, -1.3724154233932495, -0.6240871548652649, 100, -0.1973775029182434, -2.350087881088257, -1.2439121007919312, -1.0758556127548218, -4.639523029327393, 2.93697190284729 ]
[ 0.008668482303619385, 0.01780402660369873, -0.02071249485015869, 0.0010175704956054688, 0.002228856086730957, 0.00850522518157959, 0, 0.000024318695068359375, -0.000024318695068359375, 0.00009584426879882812, 0.0000362396240234375, 0.00008440017700195312, 0.00003552436828613281 ]
18.6
93
0
93
0
[ -0.7195661067962646, -1.115219235420227, 1.505814790725708, -1.70529305934906, -1.3701865673065186, -0.6155819296836853, 100, -0.19735318422317505, -2.350112199783325, -1.2438162565231323, -1.0758193731307983, -4.639438629150391, 2.937007427215576 ]
[ 0.008922934532165527, 0.01892411708831787, -0.021882057189941406, 0.0013176202774047852, 0.0023086071014404297, 0.008938074111938477, 0, -0.00001239776611328125, 0.0009961128234863281, -0.0019173622131347656, 0.0009703636169433594, -0.00002384185791015625, -0.00003552436828613281 ]
18.799999
94
0
94
0
[ -0.7106431722640991, -1.0962951183319092, 1.4839327335357666, -1.7039754390716553, -1.3678779602050781, -0.6066438555717468, 100, -0.19736558198928833, -2.349116086959839, -1.245733618736267, -1.074849009513855, -4.639462471008301, 2.93697190284729 ]
[ 0.007069945335388184, 0.01502847671508789, -0.017249703407287598, 0.000812530517578125, 0.0017124414443969727, 0.006853580474853516, 0, -0.0002512931823730469, 0.0015721321105957031, -0.0031757354736328125, 0.0012459754943847656, -0.000036716461181640625, -0.00017976760864257812 ]
19
95
0
95
0
[ -0.7035732269287109, -1.0812666416168213, 1.466683030128479, -1.7031629085540771, -1.3661655187606812, -0.5997902750968933, 100, -0.19761687517166138, -2.347543954849243, -1.2489093542099, -1.0736030340194702, -4.639499187469482, 2.9367921352386475 ]
[ 0.010339200496673584, 0.022470593452453613, -0.029012680053710938, 0.004279136657714844, 0.0026009082794189453, 0.010225236415863037, 0, -0.0000362396240234375, 0.00011968612670898438, -0.0002875328063964844, 0.00008392333984375, 0.000060558319091796875, -0.000059604644775390625 ]
19.200001
96
0
96
0
[ -0.6932340264320374, -1.0587960481643677, 1.437670350074768, -1.6988837718963623, -1.3635646104812622, -0.5895650386810303, 100, -0.19765311479568481, -2.347424268722534, -1.2491968870162964, -1.0735191106796265, -4.639438629150391, 2.936732530593872 ]
[ 0.01126188039779663, 0.024634838104248047, -0.034188032150268555, 0.0071915388107299805, 0.0027376413345336914, 0.011178314685821533, 0, -0.00009584426879882812, 0.0002040863037109375, 0, 0, -0.00002384185791015625, 0.000011920928955078125 ]
19.4
97
0
97
0
[ -0.6819721460342407, -1.0341612100601196, 1.4034823179244995, -1.6916922330856323, -1.3608269691467285, -0.5783867239952087, 100, -0.19774895906448364, -2.3472201824188232, -1.2491968870162964, -1.0735191106796265, -4.639462471008301, 2.936744451522827 ]
[ 0.0077571868896484375, 0.01735973358154297, -0.024300694465637207, 0.005452513694763184, 0.0019174814224243164, 0.007787644863128662, 0, -0.00006008148193359375, 0, -0.00008392333984375, 0, 0.00002384185791015625, -0.000011920928955078125 ]
19.6
98
0
98
0
[ -0.6742149591445923, -1.0168014764785767, 1.3791816234588623, -1.6862397193908691, -1.3589094877243042, -0.5705990791320801, 100, -0.19780904054641724, -2.3472201824188232, -1.2492808103561401, -1.0735191106796265, -4.639438629150391, 2.936732530593872 ]
[ 0.0013365745544433594, 0.0031287670135498047, -0.0047158002853393555, 0.0016782283782958984, 0.0003796815872192383, 0.001336514949798584, 0, 0, 0.000011920928955078125, 0.000059604644775390625, 0.00006008148193359375, 0, 0.00004792213439941406 ]
19.799999
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": "dual_arm_fr5_ur3",
    "total_episodes": 1,
    "total_frames": 572,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 0.0001,
    "video_files_size_in_mb": 0.0001,
    "fps": 5,
    "splits": {
        "train": "0:1"
    },
    "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.fr5_image": {
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            "shape": [
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            "names": [
                "H",
                "W",
                "C"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
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        },
        "observation.ur3_image": {
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            ],
            "names": [
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            "info": {
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                "video.is_depth_map": false,
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                "video.channels": 3,
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        },
        "observation.state": {
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            "names": [
                "fr5_j0",
                "fr5_j1",
                "fr5_j2",
                "fr5_j3",
                "fr5_j4",
                "fr5_j5",
                "gripper",
                "ur3_j0",
                "ur3_j1",
                "ur3_j2",
                "ur3_j3",
                "ur3_j4",
                "ur3_j5"
            ]
        },
        "action": {
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            "names": [
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                "d_fr5_j2",
                "d_fr5_j3",
                "d_fr5_j4",
                "d_fr5_j5",
                "d_gripper",
                "d_ur3_j0",
                "d_ur3_j1",
                "d_ur3_j2",
                "d_ur3_j3",
                "d_ur3_j4",
                "d_ur3_j5"
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        },
        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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