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action
list
action.joint_position
list
action.joint_torque
list
observation.state
list
timestamp
float32
0
19.9
frame_index
int64
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199
episode_index
int64
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index
int64
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task_index
int64
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1.9
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2
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2.1
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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
0
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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
37
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3.8
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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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4.3
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4.4
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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
50
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5.1
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5.2
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5.3
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5.4
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5.5
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5.6
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5.7
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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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7.6
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7.7
77
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7.8
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7.9
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0
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8
80
0
80
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8.1
81
0
81
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8.2
82
0
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8.3
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0
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8.4
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0
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8.5
85
0
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8.6
86
0
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8.7
87
0
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8.8
88
0
88
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8.9
89
0
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9
90
0
90
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9.1
91
0
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9.2
92
0
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9.3
93
0
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9.4
94
0
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9.5
95
0
95
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[ -0.19241413474082947, -20.65653419494629, -0.1118697077035904, 12.487882614135742, 0.14086565375328064, 2.261176824569702, 0.0027176847215741873, 55.146514892578125 ]
[ 0.11749681085348129, 0.027300240471959114, 0.12090929597616196, -2.865117073059082, -0.01319156028330326, 2.902947187423706, 1.0362768173217773, 55.146514892578125, 0.004345102701336145, 0.021099485456943512, -0.002214647363871336, -0.0020152833312749863, -0.011470181867480278, 0.023060694...
9.6
96
0
96
0
[ -0.00017397059127688408, 0.0001768928486853838, -0.0005695462459698319, 7.4332712207692e-10, 1.6237497457716188e-10, 5.874836173092035e-10, 0.016488639637827873 ]
[ 0.11797226220369339, 0.02971065789461136, 0.12067701667547226, -2.8654367923736572, -0.01450068037956953, 2.9056904315948486, 1.0377708673477173, 0.22862239181995392 ]
[ -0.1973281055688858, -20.700387954711914, -0.10930335521697998, 12.439580917358398, 0.14084526896476746, 2.2607104778289795, 0.00146665854845196, 58.298709869384766 ]
[ 0.11797226220369339, 0.02971065789461136, 0.12067701667547226, -2.8654367923736572, -0.01450068037956953, 2.9056904315948486, 1.0377708673477173, 58.298709869384766, 0.0041431556455791, 0.020478829741477966, -0.002936162520200014, -0.0030396925285458565, -0.011286326684057713, 0.0232597868...
9.7
97
0
97
0
[ -0.000056399963796138763, 0.00012287264689803123, -0.00020667072385549545, 4.748964554934787e-10, 1.4884650456625792e-10, 1.8931715917158698e-10, 0.019167492166161537 ]
[ 0.11847900599241257, 0.03201460465788841, 0.12044623494148254, -2.8657021522521973, -0.015780877321958542, 2.9082067012786865, 1.039219617843628, 0.24511103332042694 ]
[ -0.21253259479999542, -20.748239517211914, -0.11791287362575531, 12.405428886413574, 0.1431594043970108, 2.264404773712158, 0.002190888626500964, 62.50331497192383 ]
[ 0.11847900599241257, 0.03201460465788841, 0.12044623494148254, -2.8657021522521973, -0.015780877321958542, 2.9082067012786865, 1.039219617843628, 62.50331497192383, 0.004713105503469706, 0.01945510134100914, -0.002647869987413287, -0.002089299261569977, -0.010982946492731571, 0.02063756808...
9.8
98
0
98
0
[ -0.00012695789337158203, 0.000038901809602975845, -0.00043599563650786877, 5.079364706617184e-10, 5.883088460834074e-10, -5.188882309936638e-11, 0.015729136765003204 ]
[ 0.11898914724588394, 0.0337129682302475, 0.12024547904729843, -2.86586332321167, -0.016779989004135132, 2.9099271297454834, 1.0403681993484497, 0.2642785310745239 ]
[ -0.22617697715759277, -20.776233673095703, -0.1260608732700348, 12.393180847167969, 0.14766494929790497, 2.272298574447632, 0.002133683068677783, 67.39102172851562 ]
[ 0.11898914724588394, 0.0337129682302475, 0.12024547904729843, -2.86586332321167, -0.016779989004135132, 2.9099271297454834, 1.0403681993484497, 67.39102172851562, 0.004619548562914133, 0.012829240411520004, -0.0023532938212156296, -0.0012940922752022743, -0.007917370647192001, 0.0124737517...
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": 1,
    "total_frames": 200,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:1"
    },
    "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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