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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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-0.0127
0.0635
-2.356194
2
0.2413
-0.0381
-0.785398
0
4.2
63
0
63
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 15,
    "features": {
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                "cart_rot_y",
                "cart_rot_z",
                "gripper_position"
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        },
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                "vel_yaw",
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        "timestamp": {
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            "names": null
        },
        "frame_index": {
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        "index": {
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        },
        "task_index": {
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            "names": null
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    },
    "total_episodes": 750,
    "total_frames": 290040,
    "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": "0:750"
    }
}

Citation

BibTeX:

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