Search is not available for this dataset
observation.state sequence | observation.environment_state sequence | action.relative_ee_pose sequence | observation.qvel sequence | observation.env_qvel sequence | observation.ee_pose sequence | action.ctrl sequence | action.qpos sequence | action.relative_qpos sequence | action.ee_pose sequence | timestamp float32 | episode_index int64 | frame_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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": "DualPanda",
"total_episodes": 1000,
"total_frames": 153000,
"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.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"
]
},
"action.relative_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"
]
},
"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/joint1",
"l_robot/joint2",
"l_robot/joint3",
"l_robot/joint4",
"l_robot/joint5",
"l_robot/joint6",
"l_robot/joint7",
"l_robot/fingers_actuator",
"r_robot/joint1",
"r_robot/joint2",
"r_robot/joint3",
"r_robot/joint4",
"r_robot/joint5",
"r_robot/joint6",
"r_robot/joint7",
"r_robot/fingers_actuator"
]
},
"action.qpos": {
"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/fingers_actuator",
"r_robot/joint1",
"r_robot/joint2",
"r_robot/joint3",
"r_robot/joint4",
"r_robot/joint5",
"r_robot/joint6",
"r_robot/joint7",
"r_robot/fingers_actuator"
]
},
"action.relative_qpos": {
"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/fingers_actuator",
"r_robot/joint1",
"r_robot/joint2",
"r_robot/joint3",
"r_robot/joint4",
"r_robot/joint5",
"r_robot/joint6",
"r_robot/joint7",
"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
}
}
}
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