metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "dual_panda_robotiq_ee",
"total_episodes": 1,
"total_frames": 207,
"total_tasks": 1,
"total_videos": 13,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:1"
},
"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": {
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],
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"l_robot/joint2",
"l_robot/joint3",
"l_robot/joint4",
"l_robot/joint5",
"l_robot/joint6",
"l_robot/joint7",
"l_robot/right_driver_joint",
"l_robot/right_coupler_joint",
"l_robot/right_spring_link_joint",
"l_robot/right_follower_joint",
"l_robot/left_driver_joint",
"l_robot/left_coupler_joint",
"l_robot/left_spring_link_joint",
"l_robot/left_follower_joint",
"r_robot/joint1",
"r_robot/joint2",
"r_robot/joint3",
"r_robot/joint4",
"r_robot/joint5",
"r_robot/joint6",
"r_robot/joint7",
"r_robot/right_driver_joint",
"r_robot/right_coupler_joint",
"r_robot/right_spring_link_joint",
"r_robot/right_follower_joint",
"r_robot/left_driver_joint",
"r_robot/left_coupler_joint",
"r_robot/left_spring_link_joint",
"r_robot/left_follower_joint"
]
},
"observation.state": {
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"shape": [
30
],
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"l_robot/joint2",
"l_robot/joint3",
"l_robot/joint4",
"l_robot/joint5",
"l_robot/joint6",
"l_robot/joint7",
"l_robot/right_driver_joint",
"l_robot/right_coupler_joint",
"l_robot/right_spring_link_joint",
"l_robot/right_follower_joint",
"l_robot/left_driver_joint",
"l_robot/left_coupler_joint",
"l_robot/left_spring_link_joint",
"l_robot/left_follower_joint",
"r_robot/joint1",
"r_robot/joint2",
"r_robot/joint3",
"r_robot/joint4",
"r_robot/joint5",
"r_robot/joint6",
"r_robot/joint7",
"r_robot/right_driver_joint",
"r_robot/right_coupler_joint",
"r_robot/right_spring_link_joint",
"r_robot/right_follower_joint",
"r_robot/left_driver_joint",
"r_robot/left_coupler_joint",
"r_robot/left_spring_link_joint",
"r_robot/left_follower_joint"
]
},
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],
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"tblock_py",
"tblock_pz",
"tblock_qw",
"tblock_qx",
"tblock_qy",
"tblock_qz"
]
},
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2
],
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]
},
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},
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},
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7
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},
"observation.qvel": {
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30
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"l_robot/joint2",
"l_robot/joint3",
"l_robot/joint4",
"l_robot/joint5",
"l_robot/joint6",
"l_robot/joint7",
"l_robot/right_driver_joint",
"l_robot/right_coupler_joint",
"l_robot/right_spring_link_joint",
"l_robot/right_follower_joint",
"l_robot/left_driver_joint",
"l_robot/left_coupler_joint",
"l_robot/left_spring_link_joint",
"l_robot/left_follower_joint",
"r_robot/joint1",
"r_robot/joint2",
"r_robot/joint3",
"r_robot/joint4",
"r_robot/joint5",
"r_robot/joint6",
"r_robot/joint7",
"r_robot/right_driver_joint",
"r_robot/right_coupler_joint",
"r_robot/right_spring_link_joint",
"r_robot/right_follower_joint",
"r_robot/left_driver_joint",
"r_robot/left_coupler_joint",
"r_robot/left_spring_link_joint",
"r_robot/left_follower_joint"
]
},
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6
],
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"tblock_vy",
"tblock_vz",
"tblock_wx",
"tblock_wy",
"tblock_wz"
]
},
"observation.ee_pose": {
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16
],
"names": [
"l_robot/hand_x",
"l_robot/hand_y",
"l_robot/hand_z",
"l_robot/hand_qw",
"l_robot/hand_qx",
"l_robot/hand_qy",
"l_robot/hand_qz",
"l_robot/gripper",
"r_robot/hand_x",
"r_robot/hand_y",
"r_robot/hand_z",
"r_robot/hand_qw",
"r_robot/hand_qx",
"r_robot/hand_qy",
"r_robot/hand_qz",
"r_robot/gripper"
]
},
"action.ctrl": {
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"shape": [
16
],
"names": [
"l_robot/actuator1",
"l_robot/actuator2",
"l_robot/actuator3",
"l_robot/actuator4",
"l_robot/actuator5",
"l_robot/actuator6",
"l_robot/actuator7",
"l_robot/fingers_actuator",
"r_robot/actuator1",
"r_robot/actuator2",
"r_robot/actuator3",
"r_robot/actuator4",
"r_robot/actuator5",
"r_robot/actuator6",
"r_robot/actuator7",
"r_robot/fingers_actuator"
]
},
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"shape": [
16
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"l_robot/actuator2",
"l_robot/actuator3",
"l_robot/actuator4",
"l_robot/actuator5",
"l_robot/actuator6",
"l_robot/actuator7",
"l_robot/fingers_actuator",
"r_robot/actuator1",
"r_robot/actuator2",
"r_robot/actuator3",
"r_robot/actuator4",
"r_robot/actuator5",
"r_robot/actuator6",
"r_robot/actuator7",
"r_robot/fingers_actuator"
]
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"shape": [
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],
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"l_robot/hand_x",
"l_robot/hand_y",
"l_robot/hand_z",
"l_robot/hand_qw",
"l_robot/hand_qx",
"l_robot/hand_qy",
"l_robot/hand_qz",
"l_robot/gripper",
"r_robot/hand_x",
"r_robot/hand_y",
"r_robot/hand_z",
"r_robot/hand_qw",
"r_robot/hand_qx",
"r_robot/hand_qy",
"r_robot/hand_qz",
"r_robot/gripper"
]
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},
"action.right.joint": {
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"action.right_arm.joint.relative": {
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7
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"timestamp": {
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},
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"names": null
},
"frame_index": {
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},
"index": {
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},
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},
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360,
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}
},
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"has_audio": false
}
}
}
}
Citation
BibTeX:
[More Information Needed]