Open X Embodiment in LeRobot
Collection
4 items • Updated • 1
Search is not available for this dataset
raw_state.eef_xyz listlengths 3 3 ⌀ | raw_state.eef_rpy listlengths 3 3 ⌀ | raw_state.gripper_state float32 0 0.08 ⌀ | raw_state.joint_pos listlengths 7 7 ⌀ | raw_target.eef_xyz listlengths 3 3 ⌀ | raw_target.eef_rpy listlengths 3 3 ⌀ | raw_target.gripper_state float32 -1 1 ⌀ | state.eef_xyz listlengths 3 3 | state.eef_rot9d listlengths 9 9 ⌀ | state.joint_pos listlengths 7 7 | state.gripper_state float32 0 1 | target.eef_xyz listlengths 3 3 ⌀ | target.eef_rot9d listlengths 9 9 ⌀ | target.gripper_state float32 0 1 ⌀ | debug.gripper_eef_xyz listlengths 3 3 ⌀ | debug.gripper_eef_rot6d listlengths 6 6 ⌀ | timestamp float32 0 4.33 | frame_index int64 0 65 | episode_index int64 0 3.24k | index int64 0 214k | task_index int64 0 402 |
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0.9999586343765259,
-0.0047888061963021755
] | 2.2 | 33 | 1 | 99 | 1 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 3242,
"total_frames": 213972,
"total_tasks": 403,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:3242"
},
"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": {
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"shape": [
84,
84,
3
],
"names": [
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"width",
"rgb"
],
"info": {
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"video.width": 84,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
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}
},
"observation.images.rgb_static": {
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"shape": [
150,
200,
3
],
"names": [
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"width",
"rgb"
],
"info": {
"video.height": 150,
"video.width": 200,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
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"video.channels": 3,
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}
},
"raw_state.eef_xyz": {
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3
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"names": [
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"y",
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]
},
"raw_state.eef_rpy": {
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],
"names": [
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"pitch",
"yaw"
]
},
"raw_state.gripper_state": {
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1
],
"names": [
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]
},
"raw_state.joint_pos": {
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"names": [
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"joint_1",
"joint_2",
"joint_3",
"joint_4",
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"joint_6"
]
},
"raw_target.eef_xyz": {
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3
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"names": [
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"y",
"z"
]
},
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3
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"names": [
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]
},
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},
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]
},
"state.eef_rot9d": {
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"r13",
"r21",
"r22",
"r23",
"r31",
"r32",
"r33"
]
},
"state.joint_pos": {
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7
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"names": [
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"joint_2",
"joint_3",
"joint_4",
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]
},
"state.gripper_state": {
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1
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"names": [
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]
},
"target.eef_xyz": {
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3
],
"names": [
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]
},
"target.eef_rot9d": {
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9
],
"names": [
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"r12",
"r13",
"r21",
"r22",
"r23",
"r31",
"r32",
"r33"
]
},
"target.gripper_state": {
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"shape": [
1
],
"names": [
"gripper"
]
},
"debug.gripper_eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
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]
},
"debug.gripper_eef_rot6d": {
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6
],
"names": [
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"r21",
"r31",
"r12",
"r22",
"r32"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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1
],
"names": null
},
"task_index": {
"dtype": "int64",
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1
],
"names": null
}
}
}
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