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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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64
0
64
0
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This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 15,
    "features": {
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            "dtype": "float32",
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            "names": [
                "cart_pos_x",
                "cart_pos_y",
                "cart_pos_z",
                "cart_rot_x",
                "cart_rot_y",
                "cart_rot_z",
                "gripper_position"
            ]
        },
        "action": {
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            ],
            "names": [
                "vel_x",
                "vel_y",
                "vel_z",
                "vel_roll",
                "vel_pitch",
                "vel_yaw",
                "gripper_action"
            ]
        },
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                "steps_to_go"
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        },
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        "observation.state.joint_position": {
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                "joint_1",
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                "joint_5",
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        },
        "observation.state.joint_velocity": {
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                "joint_1",
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                "joint_3",
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                "joint_6"
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        },
        "observation.state.cartesian_velocity": {
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            "names": [
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        },
        "observation.state.gripper_position": {
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            "names": [
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        },
        "telemetry.franka.motor_torques_external": {
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        },
        "telemetry.franka.ee_wrench": {
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            "names": [
                "fx",
                "fy",
                "fz",
                "mx",
                "my",
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        },
        "telemetry.franka.motor_torques_measured": {
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        },
        "telemetry.franka.joint_torques_computed": {
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            ],
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                "joint_1",
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                "joint_3",
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                "joint_6"
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        },
        "observation.images.wrist_left": {
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            ],
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            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
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                "video.g": 2,
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        },
        "observation.images.wrist_right": {
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            "info": {
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                "video.pix_fmt": "yuv420p",
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        },
        "observation.images.side_1": {
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        "observation.images.side_2": {
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        },
        "manifest_idx": {
            "dtype": "int64",
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            "names": [
                "manifest_idx"
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        },
        "rope_x": {
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            "names": [
                "rope_x"
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        },
        "clip_left_x": {
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            "names": [
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        },
        "clip_left_y": {
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            "names": [
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        },
        "clip_left_yaw": {
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            "names": [
                "clip_left_yaw"
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        },
        "clip_left_oidx": {
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            "names": [
                "clip_left_oidx"
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        },
        "clip_right_x": {
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            "names": [
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        "clip_right_y": {
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        },
        "clip_right_yaw": {
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            "names": [
                "clip_right_yaw"
            ]
        },
        "clip_right_oidx": {
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                1
            ],
            "names": [
                "clip_right_oidx"
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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            ],
            "names": null
        },
        "task_index": {
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            "shape": [
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            "names": null
        }
    },
    "total_episodes": 100,
    "total_frames": 42272,
    "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": "0:100"
    }
}

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