--- license: apache-2.0 task_categories: - robotics tags: - LeRobot configs: - config_name: default data_files: data/*/*.parquet --- This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). ## Dataset Description - **Homepage:** [More Information Needed] - **Paper:** [More Information Needed] - **License:** apache-2.0 ## Dataset Structure [meta/info.json](meta/info.json): ```json { "codebase_version": "v2.1", "robot_type": "DualPanda", "total_episodes": 1000, "total_frames": 173000, "total_tasks": 1, "total_videos": 0, "total_chunks": 1, "chunks_size": 1000, "fps": 50, "splits": { "train": "0:1000" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": null, "features": { "observation.joint": { "dtype": "float32", "shape": [ 16 ], "names": [ "l_robot/joint1", "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": { "dtype": "float32", "shape": [ 30 ], "names": [ "l_robot/joint1", "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.environment_state": { "dtype": "float32", "shape": [ 7 ], "names": [ "tblock_px", "tblock_py", "tblock_pz", "tblock_qw", "tblock_qx", "tblock_qy", "tblock_qz" ] }, "observation.qvel": { "dtype": "float32", "shape": [ 30 ], "names": [ "l_robot/joint1", "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.env_qvel": { "dtype": "float32", "shape": [ 6 ], "names": [ "tblock_vx", "tblock_vy", "tblock_vz", "tblock_wx", "tblock_wy", "tblock_wz" ] }, "observation.ee_pose": { "dtype": "float32", "shape": [ 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": { "dtype": "float32", "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" ] }, "action.joint": { "dtype": "float32", "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" ] }, "action.ee_pose": { "dtype": "float32", "shape": [ 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" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null } } } ``` ## Citation **BibTeX:** ```bibtex [More Information Needed] ```