Episodes Preview Franka Panda Visualizer
53 episodes · 20 fps · 3 cameras · 128×128 av1

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "PandaOmron",
    "total_episodes": 53,
    "total_frames": 9979,
    "total_tasks": 7,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:53"
    },
    "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": {
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                128,
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            ],
            "names": [
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                "width",
                "channel"
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            "info": {
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                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.robot0_agentview_right": {
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            "shape": [
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                128,
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            "names": [
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                "width",
                "channel"
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.robot0_eye_in_hand": {
            "dtype": "video",
            "shape": [
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                128,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "object": {
            "dtype": "float64",
            "shape": [
                14
            ],
            "names": [
                "object"
            ]
        },
        "robot0_base_pos": {
            "dtype": "float64",
            "shape": [
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            ],
            "names": [
                "robot0_base_pos"
            ]
        },
        "robot0_base_quat": {
            "dtype": "float32",
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                4
            ],
            "names": [
                "robot0_base_quat"
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        },
        "robot0_base_to_eef_pos": {
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            "names": [
                "robot0_base_to_eef_pos"
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        },
        "robot0_base_to_eef_quat": {
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            "names": [
                "robot0_base_to_eef_quat"
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        },
        "robot0_eef_pos": {
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                3
            ],
            "names": [
                "robot0_eef_pos"
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        },
        "robot0_eef_quat": {
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            "shape": [
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            "names": [
                "robot0_eef_quat"
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        },
        "robot0_gripper_qpos": {
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            ],
            "names": [
                "robot0_gripper_qpos"
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        },
        "robot0_gripper_qvel": {
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            "shape": [
                2
            ],
            "names": [
                "robot0_gripper_qvel"
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        },
        "robot0_joint_pos": {
            "dtype": "float64",
            "shape": [
                7
            ],
            "names": [
                "robot0_joint_pos"
            ]
        },
        "robot0_joint_pos_cos": {
            "dtype": "float64",
            "shape": [
                7
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            "names": [
                "robot0_joint_pos_cos"
            ]
        },
        "robot0_joint_pos_sin": {
            "dtype": "float64",
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                7
            ],
            "names": [
                "robot0_joint_pos_sin"
            ]
        },
        "robot0_joint_vel": {
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            "shape": [
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            ],
            "names": [
                "robot0_joint_vel"
            ]
        },
        "observation.state": {
            "dtype": "float64",
            "shape": [
                16
            ],
            "names": [
                "robot0_joint_pos_cos_7d",
                "robot0_joint_pos_sin_7d",
                "robot0_gripper_qpos_2d"
            ]
        },
        "action": {
            "dtype": "float64",
            "shape": [
                12
            ],
            "names": [
                "action"
            ]
        },
        "actions_abs": {
            "dtype": "float64",
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                12
            ],
            "names": [
                "actions_abs"
            ]
        },
        "dones": {
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            ],
            "names": [
                "dones"
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        },
        "rewards": {
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            "names": [
                "rewards"
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        },
        "states": {
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            "shape": [
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            ],
            "names": [
                "states"
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        },
        "task_clip_embedding": {
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            "shape": [
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            ],
            "names": [
                "task_clip_embedding"
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        },
        "timestamp": {
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                1
            ],
            "names": null
        },
        "frame_index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            "shape": [
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            "names": null
        },
        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

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