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observation.state
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2 classes
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false
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[ 0.4648345708847046, 0.09914614260196686, 0.01761738769710064, -0.012774319387972355, 0.9417165517807007, -0.33524149656295776, -0.024896828457713127, 0.07776903361082077, 0.8980891704559326, 2.409588098526001, -0.8550589680671692, -2.7274699211120605, 0.3206312358379364, 0.7232751250267029...
[ 0.0024850964546203613, 0.0030181631445884705, -0.0014870893210172653, -0.003724828828126192, -0.010581019334495068, -0.014822023920714855, 0 ]
false
3.3
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99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
  "codebase_version": "v3.0",
  "robot_type": "franka_crisp",
  "total_episodes": 60,
  "total_frames": 27028,
  "total_tasks": 1,
  "chunks_size": 1000,
  "data_files_size_in_mb": 100,
  "video_files_size_in_mb": 200,
  "fps": 30,
  "splits": {
    "train": "0:60"
  },
  "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": [
        20
      ],
      "names": {
        "observation": [
          "tcp_pos_x",
          "tcp_pos_y",
          "tcp_pos_z",
          "tcp_quat_x",
          "tcp_quat_y",
          "tcp_quat_z",
          "tcp_quat_w",
          "gripper_pos",
          "wrench_force_x",
          "wrench_force_y",
          "wrench_force_z",
          "wrench_torque_x",
          "wrench_torque_y",
          "wrench_torque_z",
          "ft_force_x",
          "ft_force_y",
          "ft_force_z",
          "ft_torque_x",
          "ft_torque_y",
          "ft_torque_z"
        ]
      }
    },
    "observation.images.external_camera": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ],
      "info": {
        "video.height": 480,
        "video.width": 640,
        "video.codec": "av1",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.left_wrist_camera": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ],
      "info": {
        "video.height": 480,
        "video.width": 640,
        "video.codec": "av1",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "action": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": {
        "action": [
          "delta_pos_x",
          "delta_pos_y",
          "delta_pos_z",
          "delta_rotvec_x",
          "delta_rotvec_y",
          "delta_rotvec_z",
          "gripper_pos"
        ]
      }
    },
    "next.done": {
      "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:

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