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list | observation.state
list | observation.images.up
imagewidth (px) 256
256
| observation.images.wrist
imagewidth (px) 256
256
| timestamp
float32 0
5.43
| frame_index
int64 0
163
| episode_index
int64 0
274
| index
int64 0
33.5k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|---|---|
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 1000,
"total_frames": 122787,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1000"
},
"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": [
8
],
"names": [
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"panda_joint2.pos",
"panda_joint3.pos",
"panda_joint4.pos",
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"panda_joint6.pos",
"panda_joint7.pos",
"gripper.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
9
],
"names": [
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"panda_joint2.pos",
"panda_joint3.pos",
"panda_joint4.pos",
"panda_joint5.pos",
"panda_joint6.pos",
"panda_joint7.pos",
"finger1.pos",
"finger2.pos"
]
},
"observation.images.up": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
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]
},
"observation.images.wrist": {
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],
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]
},
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},
"frame_index": {
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},
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},
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},
"task_index": {
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"shape": [
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],
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}
}
}
Citation
BibTeX:
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