Search is not available for this dataset
action
sequence
observation.state
sequence
observation.environment_state
sequence
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float32
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13.9
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int64
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1.9
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1.933333
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1.966667
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2
60
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2.033333
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2.1
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2.133333
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2.166667
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2.2
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2.233333
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2.266667
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2.3
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2.333333
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2.366667
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2.4
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2.433333
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2.466667
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2.5
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3
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3.033333
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3.1
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94
0
94
0
[ 0.36511945724487305, 0.040879182517528534, 0.02614384889602661, 0.0015640854835510254, -0.995845377445221, 0.09104745090007782, -0.9999777674674988, -0.002148866653442383, -0.006323457695543766, 0.7607582211494446 ]
[ 0.36508655548095703, 0.04136085510253906, 0.02604895830154419, 0.0030450820922851562, -0.9967551827430725, 0.0804360881447792, -0.9998782277107239, -0.004266142845153809, -0.015012402087450027, 0.653903603553772, -0.18922938406467438, -1.951406478881836, 2.1683199405670166, -1.8696262836456299, -1.5704108476638794, -0.19287435710430145 ]
[ 0.36284351348876953, 0.0409245491027832, -0.012549800798296928, 0.9999985694885254, 0.00030375656206160784, 0.0016769451322034001, -0.00032432167790830135, 0.9999246001243591, 0.012276807799935341, 0.4200553894042969, -0.13170146942138672, -0.01269999984651804, 1, 0, 0, 0, 1, 0 ]
3.166667
95
0
95
0
[ 0.3651382625102997, 0.0409439355134964, 0.02615410089492798, 0.0018958449363708496, -0.9958460927009583, 0.09103258699178696, -0.9999780058860779, -0.002466440200805664, -0.0061563244089484215, 0.7823181748390198 ]
[ 0.36509227752685547, 0.04134988784790039, 0.026058703660964966, 0.003123044967651367, -0.9967470765113831, 0.08053237944841385, -0.999883234500885, -0.004316806793212891, -0.014654861763119698, 0.6554396152496338, -0.18969817459583282, -1.9515647888183594, 2.1683967113494873, -1.8695720434188843, -1.5700035095214844, -0.19339099526405334 ]
[ 0.36284351348876953, 0.0409245491027832, -0.012549800798296928, 0.9999985694885254, 0.00030375656206160784, 0.0016769451322034001, -0.00032432167790830135, 0.9999246001243591, 0.012276807799935341, 0.4200553894042969, -0.13170146942138672, -0.01269999984651804, 1, 0, 0, 0, 1, 0 ]
3.2
96
0
96
0
[ 0.36514201760292053, 0.028975987806916237, 0.02812039852142334, 0.002231121063232422, -0.995847761631012, 0.09100734442472458, -0.999977171421051, -0.0028028488159179688, -0.006153915077447891, 0.7823181748390198 ]
[ 0.3650970458984375, 0.04133272171020508, 0.02607119083404541, 0.00334012508392334, -0.9967380166053772, 0.08063677698373795, -0.9998853802680969, -0.0045201778411865234, -0.014454802498221397, 0.6570028066635132, -0.19000880420207977, -1.9517033100128174, 2.168466567993164, -1.8695677518844604, -1.569761872291565, -0.19390226900577545 ]
[ 0.36284351348876953, 0.0409245491027832, -0.012549800798296928, 0.9999985694885254, 0.00030375656206160784, 0.0016769451322034001, -0.00032432167790830135, 0.9999246001243591, 0.012276807799935341, 0.4200553894042969, -0.13170146942138672, -0.01269999984651804, 1, 0, 0, 0, 1, 0 ]
3.233333
97
0
97
0
[ 0.36514249444007874, 0.017509495839476585, 0.051287226378917694, 0.0025166869163513184, -0.9958493709564209, 0.0909811332821846, -0.9999772310256958, -0.0030744075775146484, -0.005992474965751171, 0.7823181748390198 ]
[ 0.3651008605957031, 0.04059457778930664, 0.02620542049407959, 0.003556668758392334, -0.9967288374900818, 0.08074168115854263, -0.9998894333839417, -0.004711508750915527, -0.01411452703177929, 0.6570414304733276, -0.19269959628582, -1.952237606048584, 2.168442964553833, -1.8690446615219116, -1.5691874027252197, -0.19677355885505676 ]
[ 0.3628721237182617, 0.0401153564453125, -0.012369483709335327, 0.9999995231628418, 0.0006094729178585112, 0.0007778439321555197, -0.000616877805441618, 0.9999541640281677, 0.009555301629006863, 0.4200553894042969, -0.13170146942138672, -0.01269999984651804, 1, 0, 0, 0, 1, 0 ]
3.266667
98
0
98
0
[ 0.365126371383667, 0.013562193140387535, 0.052913062274456024, 0.0028005242347717285, -0.9958542585372925, 0.09092126041650772, -0.9999772310256958, -0.003348231315612793, -0.005870492197573185, 0.7823181748390198 ]
[ 0.36508941650390625, 0.03892087936401367, 0.02783834934234619, 0.003804624080657959, -0.996721625328064, 0.08081813156604767, -0.9998918771743774, -0.004940390586853027, -0.013855794444680214, 0.6570683121681213, -0.19817563891410828, -1.9540367126464844, 2.1652438640594482, -1.8640602827072144, -1.5684698820114136, -0.20245900750160217 ]
[ 0.36286067962646484, 0.0384521484375, -0.010740626603364944, 0.9999997019767761, 0.0003559490432962775, 0.00072353461291641, -0.00036262982757762074, 0.9999570846557617, 0.009254468604922295, 0.4200553894042969, -0.13170146942138672, -0.01269999984651804, 1, 0, 0, 0, 1, 0 ]
3.3
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": null,
    "total_episodes": 1000,
    "total_frames": 370952,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1000"
    },
    "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": {
            "dtype": "float32",
            "shape": [
                10
            ],
            "names": [
                "eef_pos_x",
                "eef_pos_y",
                "eef_pos_z",
                "eef_rot_0",
                "eef_rot_1",
                "eef_rot_2",
                "eef_rot_3",
                "eef_rot_4",
                "eef_rot_5",
                "gripper_pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "eef_pos_x",
                "eef_pos_y",
                "eef_pos_z",
                "eef_rot_0",
                "eef_rot_1",
                "eef_rot_2",
                "eef_rot_3",
                "eef_rot_4",
                "eef_rot_5",
                "gripper_pos",
                "shoulder_pan_joint",
                "shoulder_lift_joint",
                "elbow_joint",
                "wrist_1_joint",
                "wrist_2_joint",
                "wrist_3_joint"
            ]
        },
        "observation.environment_state": {
            "dtype": "float32",
            "shape": [
                18
            ],
            "names": [
                "peg_pos_x",
                "peg_pos_y",
                "peg_pos_z",
                "peg_rot_0",
                "peg_rot_1",
                "peg_rot_2",
                "peg_rot_3",
                "peg_rot_4",
                "peg_rot_5",
                "hole_pos_x",
                "hole_pos_y",
                "hole_pos_z",
                "hole_rot_0",
                "hole_rot_1",
                "hole_rot_2",
                "hole_rot_3",
                "hole_rot_4",
                "hole_rot_5"
            ]
        },
        "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:

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