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observation.state
listlengths 8
8
| observation.states.ee_state
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| observation.states.joint_state
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| observation.states.gripper_state
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2
| action
listlengths 7
7
| timestamp
float32 0
17.1
| frame_index
int64 0
341
| episode_index
int64 0
499
| index
int64 0
61.2k
| task_index
int64 0
9
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 500,
"total_frames": 61228,
"total_tasks": 10,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 20,
"splits": {
"train": "0:500"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"x",
"y",
"z",
"axis_angle1",
"axis_angle2",
"axis_angle3",
"gripper",
"gripper"
]
}
},
"observation.states.ee_state": {
"dtype": "float32",
"shape": [
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