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observation.joint
sequence
observation.state
sequence
observation.environment_state
sequence
observation.environment.block_xy
sequence
observation.right_arm.joint
sequence
observation.right.joint
sequence
observation.left_arm.joint
sequence
observation.qvel
sequence
observation.env_qvel
sequence
observation.ee_pose
sequence
action.ctrl
sequence
action.joint
sequence
action.ee_pose
sequence
action.right_arm.joint
sequence
action.right.joint
sequence
action.left_arm.joint
sequence
action.right_arm.joint.relative
sequence
action.left_arm.joint.relative
sequence
action.joint.relative
sequence
timestamp
float32
episode_index
int64
frame_index
int64
index
int64
task_index
int64
observation.environment.tblock.center.xyz
sequence
observation.environment.tblock.center.quat
sequence
observation.environment.tblock.center.xaxis
sequence
observation.environment.tblock.center.yaxis
sequence
observation.environment.tblock.center.zaxis
sequence
observation.environment.tblock.center.mat
array 2D
observation.environment.tblock.center.xy_xaxis
sequence
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[ -0.4000000059604645, 0.40449947118759155, 0.624502420425415, -4.506123627781007e-17, 0.38272878527641296, 0.9238607287406921, -4.871059501299397e-17, 0, 0.3504919111728668, 0.4097709655761719, 0.5054488182067871, 0.01807018741965294, 0.7036879062652588, 0.7102534174919128, 0.006073747295...
[ 0.05622623860836029, 0.0026156329549849033, 0.03673211857676506, -1.8679883480072021, -0.032654695212841034, 1.8503813743591309, 0.0931241437792778 ]
[ 0.05622623860836029, 0.0026156329549849033, 0.03673211857676506, -1.8679883480072021, -0.032654695212841034, 1.8503813743591309, 0.0931241437792778, 0.07999999821186066 ]
[ -8.093696237665426e-7, 0.00002544331618992146, 0.0000031159561331151053, -1.5707346200942993, -9.96650539875077e-10, 1.5707600116729736, -0.7852999567985535 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
0.66
0
33
33
0
[ 0.08003796637058258, 0.3987778127193451, 0.022532187402248383 ]
[ 0.10808242857456207, 0.11146639287471771, 0.6924748420715332, 0.7045367360115051 ]
[ -0.9517868757247925, 0.3066714107990265, 0.007375623565167189 ]
[ 0.002079253550618887, -0.017593618482351303, 0.9998430609703064 ]
[ 0.3067530691623688, 0.9516528248786926, 0.016107726842164993 ]
[ [ -0.9517868757247925, 0.002079253550618887, 0.3067530691623688 ], [ 0.3066714107990265, -0.017593618482351303, 0.9516528248786926 ], [ 0.007375623565167189, 0.9998430609703064, 0.016107726842164993 ] ]
[ 0.08003796637058258, 0.3987778127193451, -0.9517868757247925, 0.3066714107990265, 0.007375623565167189 ]
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "DualPanda",
    "total_episodes": 1000,
    "total_frames": 243000,
    "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": {
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            "dtype": "float32",
            "shape": [
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            "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"
            ]
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        "observation.environment_state": {
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            "names": [
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                "tblock_py",
                "tblock_pz",
                "tblock_qw",
                "tblock_qx",
                "tblock_qy",
                "tblock_qz"
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        "observation.environment.block_xy": {
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            "names": [
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                "block_y"
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        },
        "observation.right_arm.joint": {
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        "observation.right.joint": {
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        },
        "observation.left_arm.joint": {
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        },
        "observation.qvel": {
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            "names": [
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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.env_qvel": {
            "dtype": "float32",
            "shape": [
                6
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            "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
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            "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
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            "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.right_arm.joint": {
            "dtype": "float32",
            "shape": [
                7
            ]
        },
        "action.right.joint": {
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            "shape": [
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        },
        "action.left_arm.joint": {
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        "action.right_arm.joint.relative": {
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        "action.left_arm.joint.relative": {
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        "action.joint.relative": {
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        "timestamp": {
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        "episode_index": {
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            "names": null
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        "frame_index": {
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            "names": null
        },
        "index": {
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        },
        "task_index": {
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        },
        "observation.environment.tblock.center.xyz": {
            "dtype": "float32",
            "shape": [
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            "names": [
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        "observation.environment.tblock.center.quat": {
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            "shape": [
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            "names": [
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        "observation.environment.tblock.center.xaxis": {
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            "shape": [
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            "names": [
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        "observation.environment.tblock.center.yaxis": {
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            "shape": [
                3
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            "names": [
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        },
        "observation.environment.tblock.center.zaxis": {
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            "names": [
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        "observation.environment.tblock.center.mat": {
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            "names": [
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        "observation.environment.tblock.center.xy_xaxis": {
            "dtype": "float32",
            "shape": [
                5
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            "names": [
                "xy_xaxis"
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        }
    }
}

Citation

BibTeX:

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