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raw_state.joint_pos
listlengths
7
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raw_state.eef_xyz
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raw_state.eef_rpy
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[ 0.9984769821166992, 0.04752563685178757, 0.028018401935696602, -0.048908352851867676, 0.9975041747093201, 0.050924211740493774 ]
0
0.1
6.533333
98
0
98
0
[ -0.014194115996360779, 0.1570945829153061, -0.21318867802619934, -2.226142168045044, 0.5174886584281921, 2.4621024131774902, -0.1736248880624771 ]
[ 0.5368631482124329, -0.124102883040905, 0.31228360533714294 ]
[ -2.8321902751922607, -0.07839582860469818, -0.4539671540260315 ]
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ -0.26538175344467163, 0.07542375475168228, 0.27570420503616333, -0.013839851133525372, 0.017160503193736076, 0.06716575473546982, 0.030231235548853874 ]
0
[ -0.014194115996360779, 0.1570945829153061, -0.21318867802619934, -2.226142168045044, 0.5174886584281921, 2.4621024131774902, -0.1736248880624771 ]
[ 0.5368631482124329, -0.124102883040905, 0.31228360533714294 ]
[ -0.39627987146377563, -0.8959541320800781, 0.2005702704191208, -0.8664970397949219, 0.43718743324279785, 0.2409357875585556 ]
1
[ 0, 0, 0, 0, 0, 0, 0 ]
[ -0.26538175344467163, 0.07542375475168228, 0.27570420503616333, -0.013839851133525372, 0.017160503193736076, 0.06716575473546982, 0.030231235548853874 ]
1
0
[ -0.008927254006266594, 0.005787726491689682, 0.0051459805108606815 ]
[ 0.9983477592468262, 0.0494147352874279, 0.029326152056455612, -0.05052470788359642, 0.9979843497276306, 0.03839918226003647 ]
0
0.1
6.6
99
0
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",
    "total_episodes": 9589,
    "total_frames": 3428488,
    "total_tasks": 2432,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 15,
    "splits": {
        "train": "0:9589"
    },
    "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.images.left": {
            "dtype": "video",
            "shape": [
                288,
                512,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 288,
                "video.width": 512,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right": {
            "dtype": "video",
            "shape": [
                288,
                512,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 288,
                "video.width": 512,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                288,
                512,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 288,
                "video.width": 512,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "raw_state.joint_pos": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6"
            ]
        },
        "raw_state.eef_xyz": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "x",
                "y",
                "z"
            ]
        },
        "raw_state.eef_rpy": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "roll",
                "pitch",
                "yaw"
            ]
        },
        "raw_state.gripper_state": {
            "dtype": "float32",
            "shape": [
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            "names": [
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        },
        "raw_target.joint_pos": {
            "dtype": "float32",
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            "names": [
                "joint_0",
                "joint_1",
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                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6"
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        },
        "raw_target.joint_vel": {
            "dtype": "float32",
            "shape": [
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            "names": [
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                "joint_1",
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                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6"
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        },
        "raw_target.gripper_state": {
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            "names": [
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        },
        "state.joint_pos": {
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            "names": [
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                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6"
            ]
        },
        "state.eef_xyz": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
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        },
        "state.eef_rot6d": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "rot1",
                "rot2",
                "rot3",
                "rot4",
                "rot5",
                "rot6"
            ]
        },
        "state.gripper_state": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper"
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        },
        "target.joint_pos": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6"
            ]
        },
        "target.joint_vel": {
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            "shape": [
                7
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6"
            ]
        },
        "target.gripper_state": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper"
            ]
        },
        "control_is_position": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "is_position"
            ]
        },
        "debug.gripper_eef_xyz": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "x",
                "y",
                "z"
            ]
        },
        "debug.gripper_eef_rot6d": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "rot1",
                "rot2",
                "rot3",
                "rot4",
                "rot5",
                "rot6"
            ]
        },
        "binary_success": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "binary_success"
            ]
        },
        "partial_success": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "partial_success"
            ]
        },
        "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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