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action
list
action.joint_position
list
action.joint_torque
list
observation.state
list
timestamp
float32
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9.9
frame_index
int64
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2
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2.2
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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
30
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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
35
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3.6
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3.7
37
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3.8
38
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3.9
39
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4
40
0
40
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4.1
41
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4.2
42
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4.3
43
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4.4
44
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4.5
45
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4.6
46
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4.7
47
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4.8
48
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4.9
49
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5
50
0
50
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5.1
51
0
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5.2
52
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5.3
53
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5.4
54
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5.5
55
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5.6
56
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5.9
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6
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6.1
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6.2
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6.3
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6.4
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6.5
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6.6
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6.7
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6.8
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6.9
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7
70
0
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7.1
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7.2
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7.3
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7.4
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7.5
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8.4
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8.5
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8.6
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8.7
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9.1
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[ -0.1404375433921814, 0.3776026964187622, -0.02302839420735836, -2.3311619758605957, 0.020473675802350044, 2.709897518157959, 0.6047990918159485, 255, 0.004333008546382189, -0.023813245818018913, -0.0018084226176142693, 0.00745753338560462, -0.001241991762071848, -0.03219378739595413, 0.0...
9.6
96
0
96
0
[ 0.0003388775512576103, -0.00020079221576452255, -0.0003461204469203949, 9.147700374967371e-10, 9.862315408781797e-10, 8.952033558884409e-10, 0.014583680778741837 ]
[ -0.13985519111156464, 0.3729700744152069, -0.02312890999019146, -2.3308849334716797, 0.020127132534980774, 2.705070972442627, 0.6056063771247864, 1 ]
[ -0.038500815629959106, -35.608436584472656, 0.03481641411781311, 16.504409790039062, 0.27603578567504883, 2.5525715351104736, 0.0028974709566682577, 255 ]
[ -0.13985519111156464, 0.3729700744152069, -0.02312890999019146, -2.3308849334716797, 0.020127132534980774, 2.705070972442627, 0.6056063771247864, 255, 0.005928979720920324, -0.044573184102773666, -0.0012211386347189546, 0.0007236724486574531, -0.0029027406126260757, -0.04408158361911774, ...
9.7
97
0
97
0
[ -0.000014670193195343018, 0.00032318662852048874, 0.0020635686814785004, 7.367914611755566e-10, 9.062501860057637e-10, 7.775584065505825e-10, 0.007776310201734304 ]
[ -0.13944865763187408, 0.3704744577407837, -0.02331014908850193, -2.3302559852600098, 0.019999533891677856, 2.70184326171875, 0.6059941649436951, 1 ]
[ -0.02707335166633129, -35.710514068603516, 0.04818292707204819, 16.6167049407959, 0.27781200408935547, 2.5760462284088135, 0.0004009267722722143, 255 ]
[ -0.13944865763187408, 0.3704744577407837, -0.02331014908850193, -2.3302559852600098, 0.019999533891677856, 2.70184326171875, 0.6059941649436951, 255, 0.002704800106585026, -0.012760879471898079, -0.0018302504904568195, 0.007046831306070089, -0.0005522574647329748, -0.022818097844719887, ...
9.8
98
0
98
0
[ -0.00011425744742155075, -0.00029990263283252716, 0.002149660140275955, 7.404878932248948e-10, 9.07721231513392e-10, 6.75883293776991e-10, 0.014556205831468105 ]
[ -0.1390710026025772, 0.3675053119659424, -0.023421021178364754, -2.330160617828369, 0.01978325843811035, 2.698606252670288, 0.6064915657043457, 1 ]
[ -0.020454073324799538, -35.71458053588867, 0.04913323372602463, 16.684993743896484, 0.2798022925853729, 2.573338270187378, 0.0018253197195008397, 255 ]
[ -0.1390710026025772, 0.3675053119659424, -0.023421021178364754, -2.330160617828369, 0.01978325843811035, 2.698606252670288, 0.6064915657043457, 255, 0.0038991218898445368, -0.029467102140188217, -0.0010945606045424938, -0.001274274429306388, -0.001878126640804112, -0.029218563809990883, ...
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": "v3.0",
    "robot_type": "franka_panda",
    "total_episodes": 10,
    "total_frames": 1000,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:10"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "ee_x.pos",
                "ee_y.pos",
                "ee_z.pos",
                "ee_rx.pos",
                "ee_ry.pos",
                "ee_rz.pos",
                "gripper.pos"
            ]
        },
        "action.joint_position": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "joint_7.pos",
                "gripper.pos"
            ]
        },
        "action.joint_torque": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "joint_1.torque",
                "joint_2.torque",
                "joint_3.torque",
                "joint_4.torque",
                "joint_5.torque",
                "joint_6.torque",
                "joint_7.torque",
                "gripper.torque"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                36
            ],
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "joint_7.pos",
                "gripper.pos",
                "joint_1.vel",
                "joint_2.vel",
                "joint_3.vel",
                "joint_4.vel",
                "joint_5.vel",
                "joint_6.vel",
                "joint_7.vel",
                "gripper.vel",
                "joint_1.torque",
                "joint_2.torque",
                "joint_3.torque",
                "joint_4.torque",
                "joint_5.torque",
                "joint_6.torque",
                "joint_7.torque",
                "gripper.torque",
                "ee_x.pos",
                "ee_y.pos",
                "ee_z.pos",
                "ee_rx.pos",
                "ee_ry.pos",
                "ee_rz.pos",
                "ee_x.vel",
                "ee_y.vel",
                "ee_z.vel",
                "ee_rx.vel",
                "ee_ry.vel",
                "ee_rz.vel"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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