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action.joint_position
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action.joint_torque
list
observation.state
list
timestamp
float32
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19.9
frame_index
int64
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199
episode_index
int64
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int64
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task_index
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2
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2.4
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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
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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
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3.6
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3.7
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3.8
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3.9
39
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5
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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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5.8
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5.9
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8.2
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8.5
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0
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8.6
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8.7
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8.8
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8.9
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9
90
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9.1
91
0
91
0
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9.2
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9.3
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9.4
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9.5
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9.6
96
0
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9.7
97
0
97
0
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9.8
98
0
98
0
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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": {
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            "shape": [
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            "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
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            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
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    }
}

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