Search is not available for this dataset
action list | action.joint_position list | action.joint_torque list | observation.state list | timestamp float32 0 0.3 | frame_index int64 0 3 | episode_index int64 0 0 | index int64 0 3 | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|
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[
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0... | 0.3 | 3 | 0 | 3 | 0 |
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "franka_panda",
"total_episodes": 1,
"total_frames": 4,
"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": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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