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+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
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+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
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+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
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+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
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+*.gif filter=lfs diff=lfs merge=lfs -text
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diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..0a34dfb031703f6999752623087d1a6aa2f3b36b
--- /dev/null
+++ b/README.md
@@ -0,0 +1,481 @@
+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+
+## Dataset Description
+
+
+
+- **Homepage:** [More Information Needed]
+- **Paper:** [More Information Needed]
+- **License:** apache-2.0
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v3.0",
+    "robot_type": "Franka",
+    "total_episodes": 95658,
+    "total_frames": 27630375,
+    "total_tasks": 49630,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 500,
+    "fps": 15,
+    "splits": {
+        "train": "0:95658"
+    },
+    "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": {
+        "is_first": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "is_last": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "is_terminal": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "language_instruction": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "language_instruction_2": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "language_instruction_3": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.state.gripper_position": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": {
+                "axes": [
+                    "gripper"
+                ]
+            }
+        },
+        "observation.state.cartesian_position": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": {
+                "axes": [
+                    "x",
+                    "y",
+                    "z",
+                    "roll",
+                    "pitch",
+                    "yaw"
+                ]
+            }
+        },
+        "observation.state.joint_position": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": {
+                "axes": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6"
+                ]
+            }
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "names": {
+                "axes": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "gripper"
+                ]
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                180,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 180,
+                "video.width": 320,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.exterior_1_left": {
+            "dtype": "video",
+            "shape": [
+                180,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 180,
+                "video.width": 320,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.exterior_2_left": {
+            "dtype": "video",
+            "shape": [
+                180,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 180,
+                "video.width": 320,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "action.gripper_position": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": {
+                "axes": [
+                    "gripper"
+                ]
+            }
+        },
+        "action.gripper_velocity": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": {
+                "axes": [
+                    "gripper"
+                ]
+            }
+        },
+        "action.cartesian_position": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": {
+                "axes": [
+                    "x",
+                    "y",
+                    "z",
+                    "roll",
+                    "pitch",
+                    "yaw"
+                ]
+            }
+        },
+        "action.cartesian_velocity": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": {
+                "axes": [
+                    "x",
+                    "y",
+                    "z",
+                    "roll",
+                    "pitch",
+                    "yaw"
+                ]
+            }
+        },
+        "action.joint_position": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": {
+                "axes": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6"
+                ]
+            }
+        },
+        "action.joint_velocity": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": {
+                "axes": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6"
+                ]
+            }
+        },
+        "action.original": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": {
+                "axes": [
+                    "x",
+                    "y",
+                    "z",
+                    "roll",
+                    "pitch",
+                    "yaw",
+                    "gripper"
+                ]
+            }
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "names": {
+                "axes": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "gripper"
+                ]
+            }
+        },
+        "discount": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_category": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "building": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "collector_id": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "date": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "camera_extrinsics.wrist_left": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": {
+                "axes": [
+                    "x",
+                    "y",
+                    "z",
+                    "roll",
+                    "pitch",
+                    "yaw"
+                ]
+            }
+        },
+        "camera_extrinsics.exterior_1_left": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": {
+                "axes": [
+                    "x",
+                    "y",
+                    "z",
+                    "roll",
+                    "pitch",
+                    "yaw"
+                ]
+            }
+        },
+        "camera_extrinsics.exterior_2_left": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": {
+                "axes": [
+                    "x",
+                    "y",
+                    "z",
+                    "roll",
+                    "pitch",
+                    "yaw"
+                ]
+            }
+        },
+        "is_episode_successful": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "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
+        }
+    }
+}
+```
+
+
+## Citation
+
+**BibTeX:**
+
+```bibtex
+[More Information Needed]
+```
\ No newline at end of file
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diff --git a/meta/tasks.parquet b/meta/tasks.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2fdd5a3b3889036f85866d0e5a074af695213914
--- /dev/null
+++ b/meta/tasks.parquet
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