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Datasets:
gribes02
/
ur5e_rtde_bt_apple_pick_place_10MA

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
u_r5e_dataset
rlds
openx
ur5e
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
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observation.state
list
action
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timestamp
float32
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frame_index
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1.53k
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2.8
84
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84
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2.833333
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85
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2.866667
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2.9
87
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87
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2.933333
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2.966667
89
0
89
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3
90
0
90
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3.033333
91
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91
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3.066667
92
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3.1
93
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3.133333
94
0
94
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[ -0.02327852137386799, -0.011907722800970078, -0.10737472772598267, 0.11950547993183136, 0.2636047303676605, 0.0587928481400013, 0.11908099800348282, -0.11908099800348282 ]
3.166667
95
0
95
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3.2
96
0
96
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3.233333
97
0
97
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3.266667
98
0
98
0
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3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "ur5e",
    "total_episodes": 100,
    "total_frames": 73041,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:100"
    },
    "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": {
        "observation.images.image": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "motors": [
                    "shoulder_pan_joint",
                    "shoulder_lift_joint",
                    "elbow_joint",
                    "wrist_1_joint",
                    "wrist_2_joint",
                    "wrist_3_joint",
                    "gripper_prismatic_left",
                    "gripper_prismatic_right"
                ]
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        },
        "action": {
            "dtype": "float32",
            "shape": [
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            "names": {
                "motors": [
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                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw",
                    "gripper_prismatic_left",
                    "gripper_prismatic_right"
                ]
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
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        "frame_index": {
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        "episode_index": {
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            "names": null
        },
        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
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