Datasets:
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observation.state
list | action
list | observation.environment_state
list | steps_to_go
int64 | source
int64 | success
int64 | is_valid
int64 | reward
float32 | timestamp
float32 | frame_index
int64 | episode_index
int64 | index
int64 | task_index
int64 | done
int64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 200,
"total_frames": 28816,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 20,
"splits": {
"train": "0:200"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
9
],
"names": [
"eef_pos_x",
"eef_pos_y",
"eef_pos_z",
"eef_quat_x",
"eef_quat_y",
"eef_quat_z",
"eef_quat_w",
"gripper_qpos_left",
"gripper_qpos_right"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"delta_eef_pos_x",
"delta_eef_pos_y",
"delta_eef_pos_z",
"delta_eef_rot_x",
"delta_eef_rot_y",
"delta_eef_rot_z",
"gripper_action"
]
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
10
],
"names": [
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"cube_pos_y",
"cube_pos_z",
"cube_quat_x",
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"cube_quat_z",
"cube_quat_w",
"gripper_to_cube_pos_x",
"gripper_to_cube_pos_y",
"gripper_to_cube_pos_z"
]
},
"steps_to_go": {
"dtype": "int64",
"shape": [
1
],
"names": [
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