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observation.state
list
action
list
steps_to_go
int64
source
int64
intervention
int64
success
int64
is_valid
int64
reward
float32
done
int64
policy_id
int64
round_id
int64
action.cartesian_velocity
list
action.cartesian_position
list
action.joint_velocity
list
action.joint_position
list
action.gripper_position
float32
action.gripper_velocity
float32
observation.state.cartesian_position
list
observation.state.joint_position
list
observation.state.joint_velocity
list
observation.state.cartesian_velocity
list
observation.state.gripper_position
float32
telemetry.franka.motor_torques_external
list
telemetry.franka.ee_wrench
list
telemetry.franka.motor_torques_measured
list
telemetry.franka.joint_torques_computed
list
manifest_idx
int64
rope_x
float32
clip_left_x
float32
clip_left_y
float32
clip_left_yaw
float32
clip_left_oidx
float32
clip_right_x
float32
clip_right_y
float32
clip_right_yaw
float32
clip_right_oidx
float32
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ 0.5589425563812256, 0.11331012845039368, 0.25342005491256714, 3.0639820098876953, 0.22461599111557007, 1.6650331020355225 ]
[ -0.09848260879516602, 0.41808515787124634, 0.006654134951531887, 0.5529652833938599, -0.041777003556489944, 0.01617608591914177, -0.40950077772140503 ]
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0.998255
0.345444
[ 0.5048233270645142, 0.11521458625793457, 0.25387057662010193, 3.0832767486572266, 0.2339704930782318, 1.58107590675354 ]
[ 0.11042878776788712, 0.19628463685512543, 0.10996691137552261, -2.3203094005584717, -0.4345552921295166, 2.4782862663269043, -1.0203728675842285 ]
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[ 0.17205810546875, 0.00822522584348917, 0.01991121843457222, 0.0457286536693573, -0.08314774930477142, 0.29710179567337036 ]
0.911894
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[ -1.1665985584259033, -2.5497548580169678, 1.2047138214111328, 0.7861080765724182, -1.3547155857086182, -1.006006121635437 ]
[ -1.1266776323318481, -33.717254638671875, 0.2062833309173584, 17.78929328918457, 0.3514440059661865, 2.383296489715576, -0.012910128571093082 ]
[ -1.5957508087158203, 0.8011025190353394, -1.177146553993225, -0.15535974502563477, -0.5045841932296753, 0.16621971130371094, -0.18316474556922913 ]
0
-0.049705
0.1651
0.0889
-1.570796
1
-0.0381
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1
4.266667
64
0
64
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

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    "fps": 15,
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    "total_episodes": 40,
    "total_frames": 9094,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 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",
    "robot_type": "franka",
    "splits": {
        "train": "0:40"
    }
}

Citation

BibTeX:

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