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action
list
action.joint_position
list
action.joint_torque
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observation.state
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timestamp
float32
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8.6
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int64
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2.3
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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
31
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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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3.9
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4
40
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4.1
41
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4.2
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4.3
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5.7
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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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1
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1
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0.6
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0.7
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1
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1
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10
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1.1
11
1
97
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1.2
12
1
98
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1.3
13
1
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": 1000,
    "total_frames": 86014,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:1000"
    },
    "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": [
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            "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": {
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            "names": [
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                "joint_2.torque",
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                "joint_4.torque",
                "joint_5.torque",
                "joint_6.torque",
                "joint_7.torque",
                "gripper.torque"
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        },
        "observation.state": {
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            "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": {
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            "names": [
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                "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
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        },
        "observation.images.wrist": {
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            "shape": [
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
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        },
        "timestamp": {
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        "frame_index": {
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            "names": null
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        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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