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action list | observation.state list | timestamp float32 0 4.67 | frame_index int64 0 70 | episode_index int64 0 0 | index int64 0 70 | task_index int64 0 0 |
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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 1,
"total_frames": 71,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 15,
"splits": {
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},
"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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"names": [
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"gripper_cmd_bin"
]
},
"observation.state": {
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"names": [
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"joint_5.pos",
"joint_6.pos",
"joint_7.pos",
"gripper_state_norm",
"gripper_cmd_bin",
"ee_pose.x",
"ee_pose.y",
"ee_pose.z",
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"ee_pose.ry",
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]
},
"observation.images.wrist_image": {
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"shape": [
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672,
3
],
"names": [
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],
"info": {
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"video.width": 672,
"video.codec": "av1",
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"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
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}
},
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"info": {
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},
"timestamp": {
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},
"frame_index": {
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},
"task_index": {
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}
}
}
Citation
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