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Datasets:
jinukoo
/
mug_flip_real_train

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
mug_flip_real
real
ur5
lerobot
split:train
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
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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
27.2
frame_index
int64
0
272
episode_index
int64
0
98
index
int64
0
15.9k
task_index
int64
0
0
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4
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4.1
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4.2
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4.3
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4.5
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4.6
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4.7
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4.8
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4.9
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5
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0
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5.1
51
0
51
0
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0
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5.2
52
0
52
0
[ -0.5286350250244141, -0.10822175443172455, 0.1575281322002411, 1.6188342571258545, 1.6524924039840698, -0.6604118943214417 ]
0
[ -0.5291157960891724, -0.11185245960950851, 0.15543371438980103, 1.6093791723251343, 1.6435924768447876, -0.6658704280853271, 0 ]
5.3
53
0
53
0
[ -0.5292906761169434, -0.11098160594701767, 0.15586143732070923, 1.6112746000289917, 1.6451003551483154, -0.6640616059303284 ]
0
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5.4
54
0
54
0
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0
[ -0.5313658118247986, -0.11375246196985245, 0.15658371150493622, 1.6051048040390015, 1.6362093687057495, -0.6640993356704712, 0 ]
5.5
55
0
55
0
[ -0.5312686562538147, -0.11358902603387833, 0.15642285346984863, 1.6053951978683472, 1.6365108489990234, -0.6641184687614441 ]
0
[ -0.531815767288208, -0.11470246315002441, 0.1577337235212326, 1.603729486465454, 1.6350455284118652, -0.6643861532211304, 0 ]
5.6
56
0
56
0
[ -0.5317549705505371, -0.11447932571172714, 0.15761452913284302, 1.6038404703140259, 1.6355570554733276, -0.664752721786499 ]
0
[ -0.5322657823562622, -0.11565245687961578, 0.1588837206363678, 1.6023544073104858, 1.6338815689086914, -0.6646723747253418, 0 ]
5.7
57
0
57
0
[ -0.5322235822677612, -0.11547340452671051, 0.15875492990016937, 1.6024281978607178, 1.6343520879745483, -0.664936363697052 ]
0
[ -0.5327157974243164, -0.11660245805978775, 0.160033717751503, 1.600979208946228, 1.632717490196228, -0.6649580001831055, 0 ]
5.8
58
0
58
0
[ -0.5326433777809143, -0.11635446548461914, 0.1598316729068756, 1.6012489795684814, 1.6331413984298706, -0.6651174426078796 ]
1
[ -0.5331658124923706, -0.11755245923995972, 0.16118371486663818, 1.5996042490005493, 1.6315534114837646, -0.6652430891990662, 0 ]
5.9
59
0
59
0
[ -0.5330500602722168, -0.11719384044408798, 0.16080057621002197, 1.5999274253845215, 1.6322907209396362, -0.6654008626937866 ]
1
[ -0.5062658190727234, -0.09165246039628983, 0.2407837212085724, 2.0669476985931396, 1.9741077423095703, -0.17550836503505707, 0 ]
6
60
0
60
0
[ -0.5332573056221008, -0.1175946444272995, 0.16131003201007843, 1.5994535684585571, 1.6316508054733276, -0.665454626083374 ]
1
[ -0.53361576795578, -0.11850246042013168, 0.16233371198177338, 1.5982292890548706, 1.6303890943527222, -0.6655275225639343, 1 ]
6.1
61
0
61
0
[ -0.5335767269134521, -0.11840472370386124, 0.16217204928398132, 1.5983097553253174, 1.6309044361114502, -0.6655411124229431 ]
1
[ -0.5340657830238342, -0.11945246160030365, 0.16348372399806976, 1.596854329109192, 1.6292247772216797, -0.6658113598823547, 1 ]
6.2
62
0
62
0
[ -0.5340511798858643, -0.11905670911073685, 0.16305193305015564, 1.597169041633606, 1.6296567916870117, -0.6656643152236938 ]
1
[ -0.5345157980918884, -0.11910246312618256, 0.1633337140083313, 1.5956507921218872, 1.6281980276107788, -0.6659228205680847, 1 ]
6.3
63
0
63
0
[ -0.5344502925872803, -0.11908918619155884, 0.16318979859352112, 1.5955278873443604, 1.6279077529907227, -0.6661319732666016 ]
1
[ -0.5349658131599426, -0.11870245635509491, 0.16318371891975403, 1.5918312072753906, 1.6254535913467407, -0.6690379977226257, 1 ]
6.4
64
0
64
0
[ -0.534838855266571, -0.11867915838956833, 0.163150817155838, 1.5922061204910278, 1.6256481409072876, -0.6686267852783203 ]
1
[ -0.5349658131599426, -0.11775246262550354, 0.16303372383117676, 1.5879242420196533, 1.6226367950439453, -0.67223060131073, 1 ]
6.5
65
0
65
0
[ -0.5349118113517761, -0.11788949370384216, 0.16304151713848114, 1.5887964963912964, 1.62313973903656, -0.6713473796844482 ]
1
[ -0.5349658131599426, -0.1170024573802948, 0.16318371891975403, 1.5854748487472534, 1.6209889650344849, -0.6739636659622192, 1 ]
6.6
66
0
66
0
[ -0.5349934697151184, -0.1171758845448494, 0.16334006190299988, 1.5862780809402466, 1.6219475269317627, -0.6735449433326721 ]
1
[ -0.5349658131599426, -0.11670245975255966, 0.16418372094631195, 1.58482825756073, 1.6207880973815918, -0.6739016771316528, 1 ]
6.7
67
0
67
0
[ -0.5349760055541992, -0.11679378896951675, 0.16438858211040497, 1.5852266550064087, 1.6210942268371582, -0.6737425327301025 ]
1
[ -0.5349658131599426, -0.11640246212482452, 0.16713371872901917, 1.5857409238815308, 1.620474100112915, -0.6736608743667603, 1 ]
6.8
68
0
68
0
[ -0.5349816679954529, -0.11654683947563171, 0.166946142911911, 1.5864667892456055, 1.6212326288223267, -0.672976016998291 ]
1
[ -0.5349658131599426, -0.11610245704650879, 0.17308372259140015, 1.59473717212677, 1.6247409582138062, -0.6686025857925415, 1 ]
6.9
69
0
69
0
[ -0.5349871516227722, -0.11612104624509811, 0.17208531498908997, 1.5942356586456299, 1.6251217126846313, -0.6686135530471802 ]
1
[ -0.5349658131599426, -0.11580245941877365, 0.1775837242603302, 1.6069560050964355, 1.63524329662323, -0.6598691344261169, 1 ]
7
70
0
70
0
[ -0.5350210070610046, -0.11590984463691711, 0.17704635858535767, 1.606652021408081, 1.6348086595535278, -0.6596707105636597 ]
1
[ -0.5349658131599426, -0.1165524572134018, 0.1824837177991867, 1.6238895654678345, 1.6497304439544678, -0.6450358033180237, 1 ]
7.1
71
0
71
0
[ -0.5349704027175903, -0.11653835326433182, 0.1818379908800125, 1.62196946144104, 1.6474553346633911, -0.6461719274520874 ]
1
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7.2
72
0
72
0
[ -0.5349963903427124, -0.11753848195075989, 0.1873951554298401, 1.641294240951538, 1.6628261804580688, -0.6277607679367065 ]
1
[ -0.5349658131599426, -0.11830245703458786, 0.19293372333049774, 1.6637951135635376, 1.6811250448226929, -0.6053546667098999, 1 ]
7.3
73
0
73
0
[ -0.5349760055541992, -0.1182902380824089, 0.19225896894931793, 1.6611602306365967, 1.6788465976715088, -0.6077055931091309 ]
1
[ -0.5349658131599426, -0.11915245652198792, 0.19808371365070343, 1.6864126920700073, 1.6997992992401123, -0.5818470120429993, 1 ]
7.4
74
0
74
0
[ -0.5349650382995605, -0.11890590190887451, 0.1970544010400772, 1.6822257041931152, 1.6960599422454834, -0.5860329866409302 ]
1
[ -0.5349658131599426, -0.1195024624466896, 0.20333372056484222, 1.7093342542648315, 1.7186475992202759, -0.557510495185852, 1 ]
7.5
75
0
75
0
[ -0.5350098013877869, -0.11932465434074402, 0.20251381397247314, 1.7061965465545654, 1.7155488729476929, -0.5609291791915894 ]
1
[ -0.5349658131599426, -0.1195024624466896, 0.20813371241092682, 1.732466459274292, 1.7375911474227905, -0.5324144959449768, 1 ]
7.6
76
0
76
0
[ -0.5349746346473694, -0.11952085047960281, 0.2069769650697708, 1.7275863885879517, 1.7335208654403687, -0.5373484492301941 ]
1
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7.7
77
0
77
0
[ -0.5349535346031189, -0.11959876865148544, 0.2112092524766922, 1.749573826789856, 1.7509740591049194, -0.5124009847640991 ]
1
[ -0.5349658131599426, -0.1195024624466896, 0.21573372185230255, 1.773999571800232, 1.7702631950378418, -0.4841993749141693, 1 ]
7.8
78
0
78
0
[ -0.5349864959716797, -0.1194647029042244, 0.21493317186832428, 1.770005226135254, 1.7668906450271606, -0.48882853984832764 ]
1
[ -0.5349658131599426, -0.1195024624466896, 0.21973371505737305, 1.7950884103775024, 1.786818504333496, -0.4591212868690491, 1 ]
7.9
79
0
79
0
[ -0.5349572896957397, -0.11950518935918808, 0.21910662949085236, 1.7922239303588867, 1.7841459512710571, -0.46243318915367126 ]
1
[ -0.5349658131599426, -0.1195024624466896, 0.2235337197780609, 1.8166170120239258, 1.8036423921585083, -0.4329947233200073, 1 ]
8
80
0
80
0
[ -0.5350044369697571, -0.11955053359270096, 0.22280456125736237, 1.8126705884933472, 1.800559401512146, -0.4374562203884125 ]
1
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8.1
81
0
81
0
[ -0.5349234938621521, -0.11950603127479553, 0.22700919210910797, 1.8361035585403442, 1.8181036710739136, -0.4078179895877838 ]
1
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8.2
82
0
82
0
[ -0.534803032875061, -0.11949074268341064, 0.23061580955982208, 1.8571995496749878, 1.8338929414749146, -0.38003894686698914 ]
1
[ -0.5345157980918884, -0.11920245736837387, 0.23363371193408966, 1.881610631942749, 1.8523104190826416, -0.34754204750061035, 1 ]
8.3
83
0
83
0
[ -0.5345696210861206, -0.11906993389129639, 0.2332126945257187, 1.8785524368286133, 1.8493921756744385, -0.35207629203796387 ]
1
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8.4
84
0
84
0
[ -0.5344496369361877, -0.11735878139734268, 0.23496760427951813, 1.8980039358139038, 1.8605843782424927, -0.3300776183605194 ]
1
[ -0.5342658162117004, -0.11320246011018753, 0.23628371953964233, 1.9224441051483154, 1.8721164464950562, -0.30406633019447327, 1 ]
8.5
85
0
85
0
[ -0.5343143343925476, -0.11373409628868103, 0.2360747754573822, 1.9200215339660645, 1.8712282180786133, -0.3068233132362366 ]
1
[ -0.5341157913208008, -0.10915245860815048, 0.23658372461795807, 1.9462426900863647, 1.8848106861114502, -0.27910199761390686, 1 ]
8.6
86
0
86
0
[ -0.5341873168945312, -0.1098526120185852, 0.2364906519651413, 1.9420613050460815, 1.882603406906128, -0.2837320566177368 ]
1
[ -0.5339657664299011, -0.10500246286392212, 0.2368837147951126, 1.9707163572311401, 1.898276925086975, -0.25315457582473755, 1 ]
8.7
87
0
87
0
[ -0.5339930057525635, -0.10581275820732117, 0.23691225051879883, 1.9672009944915771, 1.8965116739273071, -0.2567063570022583 ]
1
[ -0.5337657928466797, -0.10180246084928513, 0.23763372004032135, 1.9956090450286865, 1.9127150774002075, -0.2252628207206726, 1 ]
8.8
88
0
88
0
[ -0.5337929725646973, -0.10247927159070969, 0.23761537671089172, 1.9910707473754883, 1.9099363088607788, -0.230234295129776 ]
1
[ -0.5335658192634583, -0.09895245730876923, 0.23888371884822845, 2.0206596851348877, 1.9275097846984863, -0.19413107633590698, 1 ]
8.9
89
0
89
0
[ -0.5336141586303711, -0.09954957664012909, 0.23908326029777527, 2.017150402069092, 1.9254478216171265, -0.19835127890110016 ]
1
[ -0.533365786075592, -0.0967024564743042, 0.2420337200164795, 2.045980215072632, 1.9426641464233398, -0.1610717624425888, 1 ]
9
90
0
90
0
[ -0.5334646105766296, -0.0971503034234047, 0.24135585129261017, 2.0413718223571777, 1.939784288406372, -0.1675165742635727 ]
1
[ -0.533115804195404, -0.09420245885848999, 0.24393372237682343, 2.0713677406311035, 1.9584771394729614, -0.1283433884382248, 1 ]
9.1
91
0
91
0
[ -0.5331719517707825, -0.09452340006828308, 0.24367183446884155, 2.0678627490997314, 1.9561787843704224, -0.13270552456378937 ]
1
[ -0.5329157710075378, -0.09155245870351791, 0.24628372490406036, 2.0965864658355713, 1.9745203256607056, -0.09380631893873215, 1 ]
9.2
92
0
92
0
[ -0.5329588651657104, -0.09200603514909744, 0.2458677738904953, 2.092113733291626, 1.971572756767273, -0.09967441111803055 ]
1
[ -0.5328158140182495, -0.08900246024131775, 0.2493337243795395, 2.1224448680877686, 1.990807294845581, -0.058527663350105286, 1 ]
9.3
93
0
93
0
[ -0.5328478217124939, -0.08921509236097336, 0.2486712634563446, 2.1191229820251465, 1.988349199295044, -0.06438455730676651 ]
1
[ -0.5326157808303833, -0.08555246144533157, 0.2506837248802185, 2.1482362747192383, 2.0055606365203857, -0.028753507882356644, 1 ]
9.4
94
0
94
0
[ -0.5326348543167114, -0.08603114634752274, 0.25036168098449707, 2.1438040733337402, 2.0026261806488037, -0.03504060581326485 ]
1
[ -0.5324158072471619, -0.08110246062278748, 0.25223371386528015, 2.1763274669647217, 2.018833637237549, -0.004205398727208376, 1 ]
9.5
95
0
95
0
[ -0.532405436038971, -0.08160441368818283, 0.2517392337322235, 2.1726572513580322, 2.0169944763183594, -0.008264527656137943 ]
1
[ -0.5322157740592957, -0.07620245963335037, 0.252433717250824, 2.205037832260132, 2.032874584197998, 0.01651592180132866, 1 ]
9.6
96
0
96
0
[ -0.5322858095169067, -0.07704111188650131, 0.25230616331100464, 2.1995410919189453, 2.0303778648376465, 0.0118462685495615 ]
1
[ -0.5322157740592957, -0.07090245932340622, 0.2526337206363678, 2.2319796085357666, 2.0466041564941406, 0.03194142132997513, 1 ]
9.7
97
0
97
0
[ -0.5321486592292786, -0.07141800224781036, 0.25251567363739014, 2.228121280670166, 2.044670820236206, 0.02967168390750885 ]
1
[ -0.5318657755851746, -0.0646524578332901, 0.2524837255477905, 2.2584433555603027, 2.0598111152648926, 0.04649864137172699, 1 ]
9.8
98
0
98
0
[ -0.5319307446479797, -0.065767303109169, 0.25246739387512207, 2.253469467163086, 2.057446002960205, 0.0440843366086483 ]
1
[ -0.5316658020019531, -0.05865246057510376, 0.25233373045921326, 2.2839043140411377, 2.073139190673828, 0.06253699958324432, 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": 99,
    "total_frames": 15912,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:99"
    },
    "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": {
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        "camera_1": {
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        "camera_2": {
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                240,
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            "names": [
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        "robot_eef_pose": {
            "dtype": "float32",
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            "names": [
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        "actions": {
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            "names": [
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        "timestamp": {
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}

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