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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "bimanual_franka",
"total_episodes": 0,
"total_frames": 0,
"total_tasks": 0,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {},
"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": {
"action": {
"dtype": "float32",
"names": [
"l_joint_1",
"l_joint_2",
"l_joint_3",
"l_joint_4",
"l_joint_5",
"l_joint_6",
"l_joint_7",
"l_gripper",
"r_joint_1",
"r_joint_2",
"r_joint_3",
"r_joint_4",
"r_joint_5",
"r_joint_6",
"r_joint_7",
"r_gripper"
],
"shape": [
16
]
},
"observation.state": {
"dtype": "float32",
"names": [
"l_joint_1",
"l_joint_2",
"l_joint_3",
"l_joint_4",
"l_joint_5",
"l_joint_6",
"l_joint_7",
"l_gripper",
"r_joint_1",
"r_joint_2",
"r_joint_3",
"r_joint_4",
"r_joint_5",
"r_joint_6",
"r_joint_7",
"r_gripper"
],
"shape": [
16
]
},
"observation.images.cam_1": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.images.cam_2": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.images.cam_3": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.images.cam_4": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.images.cam_5": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.images.cam_6": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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