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Datasets:
jinukoo
/
pick_and_place_val

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
pick_and_place
real
ur5
lerobot
split:val
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
Community
Dataset Viewer
Auto-converted to Parquet
Search is not available for this dataset
camera_0
imagewidth (px)
320
320
camera_1
imagewidth (px)
320
320
camera_2
imagewidth (px)
320
320
robot_eef_pose
list
gripper_state
float32
0
1
actions
list
timestamp
float32
0
13.8
frame_index
int64
0
138
episode_index
int64
0
0
index
int64
0
138
task_index
int64
0
0
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0
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0.1
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0.2
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0.3
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0.4
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0
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0.6
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0.7
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0.8
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0.9
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1
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1.1
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1.2
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1.3
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1.4
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1.5
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1.6
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1.7
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1.8
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1.9
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2
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2.1
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21
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2.2
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2.3
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2.4
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2.5
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2.6
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2.7
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2.8
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2.9
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3
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3.1
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3.2
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3.3
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3.4
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3.5
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3.6
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3.7
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3.8
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0
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3.9
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4
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4.1
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4.2
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0
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4.3
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0
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4.4
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0
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4.5
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0
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4.6
46
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0
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4.7
47
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47
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0
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4.8
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0
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4.9
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0
[ -0.6943455934524536, 0.04752163216471672, 0.21438145637512207, -2.830686092376709, -1.3214967250823975, 0.12461953610181808, 0 ]
5
50
0
50
0
[ -0.6943625807762146, 0.04757026582956314, 0.21537433564662933, -2.8283188343048096, -1.3234409093856812, 0.12435641884803772 ]
0
[ -0.6944455504417419, 0.04752163216471672, 0.2104814499616623, -2.8441405296325684, -1.30904221534729, 0.12098673731088638, 0 ]
5.1
51
0
51
0
[ -0.6944053173065186, 0.04750951752066612, 0.21124166250228882, -2.8421521186828613, -1.3112834692001343, 0.12146323919296265 ]
0
[ -0.6943455934524536, 0.04752163216471672, 0.20788145065307617, -2.855755567550659, -1.3002296686172485, 0.11784651130437851, 0 ]
5.2
52
0
52
0
[ -0.6945281028747559, 0.04750777408480644, 0.20876669883728027, -2.852848768234253, -1.3029338121414185, 0.11852806806564331 ]
0
[ -0.6954455971717834, 0.04752163216471672, 0.20803146064281464, 2.856254816055298, 1.2964425086975098, -0.11536480486392975, 0 ]
5.3
53
0
53
0
[ -0.6953414082527161, 0.04755330830812454, 0.208004891872406, 2.8565409183502197, 1.297403335571289, -0.11550191044807434 ]
0
[ -0.6965455412864685, 0.04752163216471672, 0.2081814557313919, 2.853912353515625, 1.2913726568222046, -0.11277271807193756, 0 ]
5.4
54
0
54
0
[ -0.696325421333313, 0.0475291833281517, 0.20804914832115173, 2.854208469390869, 1.292447805404663, -0.11293411999940872 ]
0
[ -0.6976455450057983, 0.04752163216471672, 0.20833145081996918, 2.85155987739563, 1.2863093614578247, -0.11018707603216171, 0 ]
5.5
55
0
55
0
[ -0.6974600553512573, 0.047543834894895554, 0.20828436315059662, 2.8517653942108154, 1.287445306777954, -0.11045652627944946 ]
1
[ -0.6987455487251282, 0.04752163216471672, 0.20848146080970764, 2.8491976261138916, 1.2812525033950806, -0.10760786384344101, 0 ]
5.6
56
0
56
0
[ -0.6984232068061829, 0.04750879481434822, 0.20834292471408844, 2.849806547164917, 1.2832434177398682, -0.10834427177906036 ]
1
[ -0.5694455504417419, 0.05207163095474243, 0.2924814522266388, -2.6015028953552246, -1.614377498626709, 0.09543007612228394, 0 ]
5.7
57
0
57
0
[ -0.698899507522583, 0.0474773645401001, 0.20850969851016998, 2.848803758621216, 1.2810084819793701, -0.10720811039209366 ]
1
[ -0.699845552444458, 0.04752163216471672, 0.2086314558982849, 2.846825361251831, 1.2762020826339722, -0.10503506660461426, 1 ]
5.8
58
0
58
0
[ -0.6996936798095703, 0.0475727878510952, 0.20857040584087372, 2.8471901416778564, 1.2769769430160522, -0.10521900653839111 ]
1
[ -0.7009455561637878, 0.04752163216471672, 0.20878145098686218, 2.8444435596466064, 1.2711580991744995, -0.10246866941452026, 1 ]
5.9
59
0
59
0
[ -0.7007988691329956, 0.047560080885887146, 0.20871764421463013, 2.8446590900421143, 1.2719396352767944, -0.10272503644227982 ]
1
[ -0.7020455598831177, 0.04752163216471672, 0.20893146097660065, 2.8420519828796387, 1.2661205530166626, -0.09990864992141724, 1 ]
6
60
0
60
0
[ -0.7018387913703918, 0.047498807311058044, 0.20879310369491577, 2.842310667037964, 1.2671332359313965, -0.10009349137544632 ]
1
[ -0.7031455636024475, 0.04752163216471672, 0.20908145606517792, 2.8396506309509277, 1.2610894441604614, -0.09735499322414398, 1 ]
6.1
61
0
61
0
[ -0.7029989361763, 0.047537289559841156, 0.20906752347946167, 2.8398284912109375, 1.2618714570999146, -0.09769356995820999 ]
1
[ -0.7042455673217773, 0.04752163216471672, 0.2092314511537552, 2.8372395038604736, 1.256064772605896, -0.0948076918721199, 1 ]
6.2
62
0
62
0
[ -0.703916072845459, 0.04750485718250275, 0.20925702154636383, 2.8375251293182373, 1.257167100906372, -0.0953638106584549 ]
1
[ -0.7042455673217773, 0.04752163216471672, 0.20938146114349365, 2.8348188400268555, 1.2510465383529663, -0.09226671606302261, 1 ]
6.3
63
0
63
0
[ -0.7041816711425781, 0.04740344360470772, 0.21012714505195618, 2.834995746612549, 1.2529370784759521, -0.09179864823818207 ]
1
[ -0.7042455673217773, 0.047321632504463196, 0.21478144824504852, 2.833495855331421, 1.251104712486267, -0.08762208372354507, 1 ]
6.4
64
0
64
0
[ -0.7040718197822571, 0.04714513197541237, 0.21476012468338013, 2.8333022594451904, 1.2514090538024902, -0.08823034167289734 ]
1
[ -0.7032455801963806, 0.046021632850170135, 0.22423145174980164, 2.8298025131225586, 1.2496141195297241, -0.0847923755645752, 1 ]
6.5
65
0
65
0
[ -0.703270673751831, 0.04607448726892471, 0.2232920527458191, 2.829702138900757, 1.2494786977767944, -0.08527710288763046 ]
1
[ -0.7018455862998962, 0.04387163370847702, 0.2345314472913742, 2.82328200340271, 1.2467769384384155, -0.08398529142141342, 1 ]
6.6
66
0
66
0
[ -0.7020238637924194, 0.04412897303700447, 0.2332697957754135, 2.824570894241333, 1.2470444440841675, -0.083933025598526 ]
1
[ -0.7001455426216125, 0.040821634232997894, 0.24683146178722382, 2.8181755542755127, 1.2446081638336182, -0.0821753516793251, 1 ]
6.7
67
0
67
0
[ -0.7003299593925476, 0.041260894387960434, 0.24511712789535522, 2.81847882270813, 1.2445886135101318, -0.08256622403860092 ]
1
[ -0.6982455849647522, 0.03802163153886795, 0.25728145241737366, 2.8106417655944824, 1.2412995100021362, -0.08209290355443954, 1 ]
6.8
68
0
68
0
[ -0.6986198425292969, 0.03841376304626465, 0.2553340196609497, 2.8119287490844727, 1.2419251203536987, -0.08149974048137665 ]
1
[ -0.6968455910682678, 0.03487163409590721, 0.26678144931793213, 2.805436134338379, 1.239076018333435, -0.08036398887634277, 1 ]
6.9
69
0
69
0
[ -0.6970281004905701, 0.03525219485163689, 0.2653796076774597, 2.8064494132995605, 1.2396132946014404, -0.08102946728467941 ]
1
[ -0.6954955458641052, 0.03182163089513779, 0.2746814489364624, 2.8023393154144287, 1.238057255744934, -0.08242490142583847, 1 ]
7
70
0
70
0
[ -0.6957562565803528, 0.03224503621459007, 0.27353334426879883, 2.8033487796783447, 1.2383637428283691, -0.0819074809551239 ]
1
[ -0.6946455836296082, 0.02852163277566433, 0.28328144550323486, 2.8024864196777344, 1.2375695705413818, -0.08367706090211868, 1 ]
7.1
71
0
71
0
[ -0.6948415637016296, 0.029004955664277077, 0.282137393951416, 2.80264949798584, 1.2376995086669922, -0.083113893866539 ]
1
[ -0.694195568561554, 0.025871632620692253, 0.29118144512176514, 2.802633047103882, 1.2376714944839478, -0.08435467630624771, 1 ]
7.2
72
0
72
0
[ -0.694301426410675, 0.026222018525004387, 0.28979960083961487, 2.802635908126831, 1.2375476360321045, -0.08359092473983765 ]
1
[ -0.6937955617904663, 0.022471632808446884, 0.298881471157074, 2.802328586578369, 1.2375311851501465, -0.08456890285015106, 1 ]
7.3
73
0
73
0
[ -0.6938813924789429, 0.022868402302265167, 0.2978547513484955, 2.80245041847229, 1.237461805343628, -0.08421318233013153 ]
1
[ -0.6936455965042114, 0.019121631979942322, 0.30633145570755005, 2.8026695251464844, 1.2365171909332275, -0.08567313104867935, 1 ]
7.4
74
0
74
0
[ -0.6936124563217163, 0.019645286723971367, 0.3051831126213074, 2.802748441696167, 1.2365601062774658, -0.08557882905006409 ]
1
[ -0.6932955980300903, 0.01537163183093071, 0.3131314516067505, 2.8029327392578125, 1.2356698513031006, -0.08677010983228683, 1 ]
7.5
75
0
75
0
[ -0.6931554079055786, 0.015848824754357338, 0.3122432827949524, 2.803011894226074, 1.2357603311538696, -0.08646906912326813 ]
1
[ -0.6923955678939819, 0.011571632698178291, 0.31878146529197693, 2.8027408123016357, 1.2347978353500366, -0.08773457258939743, 1 ]
7.6
76
0
76
0
[ -0.6925681233406067, 0.012059370055794716, 0.3176839053630829, 2.802776336669922, 1.234845519065857, -0.08762140572071075 ]
1
[ -0.6916955709457397, 0.007121631875634193, 0.3231314718723297, 2.802372932434082, 1.2332381010055542, -0.08900514990091324, 1 ]
7.7
77
0
77
0
[ -0.6919044852256775, 0.0075707207433879375, 0.32188674807548523, 2.802062749862671, 1.2335000038146973, -0.08905911445617676 ]
1
[ -0.6913955807685852, 0.002671631518751383, 0.32353144884109497, 2.7993295192718506, 1.2318618297576904, -0.09171153604984283, 1 ]
7.8
78
0
78
0
[ -0.6911606788635254, 0.0027736627962440252, 0.3232201933860779, 2.799220323562622, 1.2316725254058838, -0.09151174873113632 ]
1
[ -0.688895583152771, -0.005328368861228228, 0.3239314556121826, 2.7928199768066406, 1.2288569211959839, -0.09623416513204575, 1 ]
7.9
79
0
79
0
[ -0.6887880563735962, -0.004926691763103008, 0.323933482170105, 2.7931551933288574, 1.2285616397857666, -0.09527445584535599 ]
1
[ -0.6844455599784851, -0.01637836918234825, 0.32433146238327026, 2.783578395843506, 1.2230591773986816, -0.09720989316701889, 1 ]
8
80
0
80
0
[ -0.6850479245185852, -0.014912987127900124, 0.32428428530693054, 2.7847766876220703, 1.2235438823699951, -0.0968116894364357 ]
1
[ -0.6797955632209778, -0.02787836827337742, 0.3247314691543579, 2.7734923362731934, 1.2163525819778442, -0.09677138924598694, 1 ]
8.1
81
0
81
0
[ -0.6804139614105225, -0.02666422910988331, 0.32457229495048523, 2.7748172283172607, 1.2171753644943237, -0.09687184542417526 ]
1
[ -0.6753955483436584, -0.03972836956381798, 0.32423144578933716, 2.7641210556030273, 1.209802269935608, -0.09609389305114746, 1 ]
8.2
82
0
82
0
[ -0.6763143539428711, -0.038014091551303864, 0.32419317960739136, 2.7673442363739014, 1.2111557722091675, -0.0964035764336586 ]
1
[ -0.6722955703735352, -0.05237836763262749, 0.32273146510124207, 2.7646403312683105, 1.2069400548934937, -0.09496688842773438, 1 ]
8.3
83
0
83
0
[ -0.6726629137992859, -0.05105616897344589, 0.3228709101676941, 2.7651641368865967, 1.2070460319519043, -0.09535090625286102 ]
1
[ -0.6686955690383911, -0.06577836722135544, 0.32093146443367004, 2.7659847736358643, 1.2022674083709717, -0.09396523237228394, 1 ]
8.4
84
0
84
0
[ -0.6691409945487976, -0.06395545601844788, 0.3213590979576111, 2.7659196853637695, 1.2031402587890625, -0.09421144425868988 ]
1
[ -0.6643455624580383, -0.07917837053537369, 0.3199814558029175, 2.767759323120117, 1.1979843378067017, -0.09260570257902145, 1 ]
8.5
85
0
85
0
[ -0.6646640300750732, -0.07764273881912231, 0.32027730345726013, 2.7678728103637695, 1.197982668876648, -0.09249012917280197 ]
1
[ -0.6589955687522888, -0.09287837147712708, 0.3199814558029175, 2.77067494392395, 1.193609356880188, -0.09065765142440796, 1 ]
8.6
86
0
86
0
[ -0.6597576141357422, -0.09096309542655945, 0.32000312209129333, 2.770318031311035, 1.1941592693328857, -0.0907723605632782 ]
1
[ -0.6536455750465393, -0.10677836835384369, 0.31978145241737366, 2.774862289428711, 1.1893903017044067, -0.0879712626338005, 1 ]
8.7
87
0
87
0
[ -0.6542302370071411, -0.10542304813861847, 0.3199100196361542, 2.7745442390441895, 1.1902344226837158, -0.08830270171165466 ]
1
[ -0.6480955481529236, -0.121028371155262, 0.31958144903182983, 2.781099557876587, 1.1860512495040894, -0.08390223234891891, 1 ]
8.8
88
0
88
0
[ -0.6488553285598755, -0.11907406151294708, 0.3196218013763428, 2.7800657749176025, 1.1869200468063354, -0.08432970941066742 ]
1
[ -0.6422955393791199, -0.1352783739566803, 0.319381445646286, 2.787475824356079, 1.1823608875274658, -0.07984254509210587, 1 ]
8.9
89
0
89
0
[ -0.6434701681137085, -0.13246190547943115, 0.3194352984428406, 2.786363124847412, 1.1829696893692017, -0.08058619499206543 ]
1
[ -0.6365455389022827, -0.14922836422920227, 0.3191814720630646, 2.7939460277557373, 1.1786941289901733, -0.07570268213748932, 1 ]
9
90
0
90
0
[ -0.6372555494308472, -0.1470782309770584, 0.31927192211151123, 2.7932982444763184, 1.1792227029800415, -0.07628262042999268 ]
1
[ -0.6297455430030823, -0.16267837584018707, 0.31898146867752075, 2.8016700744628906, 1.174354076385498, -0.07105749845504761, 1 ]
9.1
91
0
91
0
[ -0.6301254034042358, -0.16092850267887115, 0.3190695345401764, 2.8009815216064453, 1.174660325050354, -0.07161471247673035 ]
1
[ -0.6207955479621887, -0.17447836697101593, 0.31878146529197693, 2.8099920749664307, 1.1688543558120728, -0.06639033555984497, 1 ]
9.2
92
0
92
0
[ -0.6217828989028931, -0.1727266013622284, 0.31882548332214355, 2.8088204860687256, 1.1695775985717773, -0.06704892963171005 ]
1
[ -0.6104455590248108, -0.1852283775806427, 0.3185814619064331, 2.8192951679229736, 1.1615532636642456, -0.061662282794713974, 1 ]
9.3
93
0
93
0
[ -0.6122685074806213, -0.1829608827829361, 0.31866514682769775, 2.8177990913391113, 1.162602186203003, -0.06263318657875061 ]
1
[ -0.5990455746650696, -0.19392837584018707, 0.3183814585208893, 2.8295962810516357, 1.152641773223877, -0.056790102273225784, 1 ]
9.4
94
0
94
0
[ -0.6005918383598328, -0.192359060049057, 0.3184046447277069, 2.8285844326019287, 1.15311861038208, -0.057452790439128876 ]
1
[ -0.5870955586433411, -0.20117837190628052, 0.31783145666122437, 2.8414409160614014, 1.1407389640808105, -0.051825519651174545, 1 ]
9.5
95
0
95
0
[ -0.5894011855125427, -0.19978244602680206, 0.31799277663230896, 2.839407205581665, 1.1426060199737549, -0.05275849625468254 ]
1
[ -0.5754955410957336, -0.20817837119102478, 0.31738147139549255, 2.85357666015625, 1.1278953552246094, -0.04687312990427017, 1 ]
9.6
96
0
96
0
[ -0.5771357417106628, -0.20732368528842926, 0.3174844980239868, 2.8517684936523438, 1.129799723625183, -0.04776179417967796 ]
1
[ -0.5640455484390259, -0.21512837707996368, 0.3169814646244049, 2.8655600547790527, 1.1143910884857178, -0.04386748746037483, 1 ]
9.7
97
0
97
0
[ -0.5662699937820435, -0.21385787427425385, 0.31707072257995605, 2.8635470867156982, 1.116917371749878, -0.044276561588048935 ]
1
[ -0.5533455610275269, -0.2220783680677414, 0.316681444644928, 2.8791022300720215, 1.1014610528945923, -0.04119113087654114, 1 ]
9.8
98
0
98
0
[ -0.5550662279129028, -0.22102411091327667, 0.31670212745666504, 2.8769750595092773, 1.103630781173706, -0.04114200547337532 ]
1
[ -0.5441455841064453, -0.22807836532592773, 0.31638145446777344, 2.8907806873321533, 1.089479923248291, -0.03783590719103813, 1 ]
9.9
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": "ur5",
    "total_episodes": 1,
    "total_frames": 139,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:1"
    },
    "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": {
        "camera_0": {
            "dtype": "image",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "camera_1": {
            "dtype": "image",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "camera_2": {
            "dtype": "image",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "robot_eef_pose": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "pose"
            ]
        },
        "gripper_state": {
            "dtype": "float32",
            "shape": [
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}

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