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exterior_image_1_left image | exterior_image_2_left image | wrist_image_left image | joint_position list | gripper_position float32 | actions list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|
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End of preview.
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 137,
"total_frames": 49406,
"total_tasks": 10,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 15,
"splits": {
"train": "0:137"
},
"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": {
"exterior_image_1_left": {
"dtype": "image",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channel"
]
},
"exterior_image_2_left": {
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"shape": [
180,
320,
3
],
"names": [
"height",
"width",
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]
},
"wrist_image_left": {
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"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channel"
]
},
"joint_position": {
"dtype": "float32",
"shape": [
7
],
"names": [
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]
},
"gripper_position": {
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"shape": [
1
],
"names": [
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]
},
"actions": {
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"shape": [
8
],
"names": [
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]
},
"timestamp": {
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1
],
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},
"frame_index": {
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1
],
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},
"episode_index": {
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1
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},
"index": {
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},
"task_index": {
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"shape": [
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],
"names": null
}
}
}
Citation
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