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obs.state.gripper.grasp_tip_pos
list
obs.state.gripper.pinch_min
float32
0.07
0.18
obs.state.gripper.pinch_widths
float32
0.07
0.18
obs.state.gripper.qpos
list
obs.state.gripper.qtorque
list
obs.state.gripper.qvel
list
obs.state.gripper.tcp_pos
list
obs.state.gripper.tcp_quat
list
reward
float32
-0.08
10
truncated
bool
1 class
success
bool
2 classes
failure
bool
1 class
action
list
obs.state.manipulator.eef_pos
array 2D
obs.state.manipulator.eef_quat
array 2D
obs.state.manipulator.qpos
list
obs.state.manipulator.qtorque
list
obs.state.manipulator.qvel
list
obs.state.other.action
list
obs.state.other.last_action
list
obs.state.other.target_pos
list
obs.state.other.target_quat
list
timestamp
float32
0
11.4
frame_index
int64
0
228
episode_index
int64
0
120
index
int64
0
3.99k
task_index
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0
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": null,
    "total_episodes": 121,
    "total_frames": 3995,
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    "data_files_size_in_mb": 100,
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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",
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}

Citation

BibTeX:

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