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observation.state
sequence
timestamp
float32
0
48.2
frame_index
int64
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1.45k
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56
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37.8k
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[ 0.12749961018562317, 0.5178039073944092, -0.15937671065330505, -1.3438746929168701, -0.040474530309438705, 2.2975451946258545, 1.0764952898025513, 0.03999854996800423, 0.03999854996800423, 0.1961081176996231, 0.37633636593818665, -1.5003973245620728, -0.5041964650154114, -0.144373834133148...
3.066667
92
0
92
0
[ 0.1275014579296112, 0.5178012251853943, -0.15937379002571106, -1.3438770771026611, -0.04047426953911781, 2.2975451946258545, 1.0764949321746826, 0.03999854996800423, 0.03999854996800423 ]
[ 0.1275014579296112, 0.5178012251853943, -0.15937379002571106, -1.3438770771026611, -0.04047426953911781, 2.2975451946258545, 1.0764949321746826, 0.03999854996800423, 0.03999854996800423, 0.19914406538009644, 0.33424386382102966, -1.4964354038238525, -0.504756510257721, -0.14371050894260406...
3.1
93
0
93
0
[ 0.12749576568603516, 0.517808735370636, -0.15937647223472595, -1.343870759010315, -0.04047994315624237, 2.297544479370117, 1.0764999389648438, 0.03999854996800423, 0.03999854996800423 ]
[ 0.12749576568603516, 0.517808735370636, -0.15937647223472595, -1.343870759010315, -0.04047994315624237, 2.297544479370117, 1.0764999389648438, 0.03999854996800423, 0.03999854996800423, 0.20953890681266785, 0.3519752621650696, -1.4804850816726685, -0.5084220767021179, -0.1416732370853424, ...
3.133333
94
0
94
0
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[ 0.12749944627285004, 0.5178074240684509, -0.15937362611293793, -1.3438786268234253, -0.0404791459441185, 2.29754376411438, 1.0765008926391602, 0.03999854996800423, 0.03999854996800423, 0.21942099928855896, 0.3936639428138733, -1.5361615419387817, -0.5048214197158813, -0.14374375343322754, ...
3.166667
95
0
95
0
[ 0.12749943137168884, 0.5178059935569763, -0.15937359631061554, -1.3438786268234253, -0.040481314063072205, 2.297546863555908, 1.0764961242675781, 0.03999854996800423, 0.03999854996800423 ]
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3.2
96
0
96
0
[ 0.12750114500522614, 0.5178095698356628, -0.15937723219394684, -1.3438745737075806, -0.04047823324799538, 2.2975478172302246, 1.076494574546814, 0.03999854996800423, 0.03999854996800423 ]
[ 0.12749943137168884, 0.5178059935569763, -0.15937359631061554, -1.3438786268234253, -0.040481314063072205, 2.297546863555908, 1.0764961242675781, 0.03999854996800423, 0.03999854996800423, 0.1721932739019394, 0.32978829741477966, -1.4173974990844727, -0.5003745555877686, -0.1456222981214523...
3.233333
97
0
97
0
[ 0.12749572098255157, 0.5178037285804749, -0.15938033163547516, -1.3438678979873657, -0.04047990217804909, 2.2975451946258545, 1.0764992237091064, 0.03999854996800423, 0.03999854996800423 ]
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3.266667
98
0
98
0
[ 0.12749743461608887, 0.5178083777427673, -0.15937449038028717, -1.3438776731491089, -0.04047770798206329, 2.297546148300171, 1.0764968395233154, 0.03999854996800423, 0.03999854996800423 ]
[ 0.12749572098255157, 0.5178037285804749, -0.15938033163547516, -1.3438678979873657, -0.04047990217804909, 2.2975451946258545, 1.0764992237091064, 0.03999854996800423, 0.03999854996800423, 0.18186676502227783, 0.3403664529323578, -1.4769917726516724, -0.5027331113815308, -0.1464680284261703...
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "panda_follower",
    "total_episodes": 57,
    "total_frames": 37822,
    "total_tasks": 1,
    "total_videos": 171,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:57"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "panda_joint1.pos",
                "panda_joint2.pos",
                "panda_joint3.pos",
                "panda_joint4.pos",
                "panda_joint5.pos",
                "panda_joint6.pos",
                "panda_joint7.pos",
                "panda_finger_joint1.pos",
                "panda_finger_joint2.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                22
            ],
            "names": [
                "panda_joint1.pos",
                "panda_joint2.pos",
                "panda_joint3.pos",
                "panda_joint4.pos",
                "panda_joint5.pos",
                "panda_joint6.pos",
                "panda_joint7.pos",
                "panda_finger_joint1.pos",
                "panda_finger_joint2.pos",
                "force.x",
                "force.y",
                "force.z",
                "torque.x",
                "torque.y",
                "torque.z",
                "pose.x",
                "pose.y",
                "pose.z",
                "pose.qx",
                "pose.qy",
                "pose.qz",
                "pose.qw"
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.side": {
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            "names": [
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                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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