Datasets:

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lerobot

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berkeley_autolab_ur5

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LeRobot 2.68k

the state column in this dataset is this as an example:
[ 0.3713127076625824, 0.056328751146793365, -0.01605011709034443, 0.6337278485298157, 0.7732474207878113, 0.01564921624958515, 0.015250011347234249, 0 ]

however, on the official website we see (https://sites.google.com/view/berkeley-ur5/home):

Data format:
The data is stored as a Numpy array of trajectories. Each array element is a separate trajectory of length L=250 formatted as a dictionary with the following key and value pairs:

• robot_state: np.ndarray((L, 15))
  • This stores the robot state at each timestep.
  • [joint0, joint1, joint2, joint3, joint4, joint5, x,y,z, qx,qy,qz,qw, gripper_is_closed, action_blocked]
  • x,y,z, qx,qy,qz,qw is the end-effector pose expressed in the robot base frame
  • gripper_is_closed is binary: 0 = fully open; 1 = fully closed
  • action_blocked is binary: 1 if the gripper opening/closing action is being executed and no other actions can be performed; 0 otherwise.

what do those 8 values mean in robot state for lerobot then?