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observation.joint_positions
list
observation.ee_pose
list
action
list
action.ee_pose
list
action.gripper
list
timestamp
float32
0
13
episode_index
int64
0
6
frame_index
int64
0
390
index
int64
0
1.61k
task_index
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "bifranka",
    "total_episodes": 1,
    "total_frames": 221,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.joint_positions": {
            "dtype": "float32",
            "shape": [
                18
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            "names": [
                "l_joint_1",
                "l_joint_2",
                "l_joint_3",
                "l_joint_4",
                "l_joint_5",
                "l_joint_6",
                "l_joint_7",
                "l_gripper_left",
                "l_gripper_right",
                "r_joint_1",
                "r_joint_2",
                "r_joint_3",
                "r_joint_4",
                "r_joint_5",
                "r_joint_6",
                "r_joint_7",
                "r_gripper_left",
                "r_gripper_right"
            ]
        },
        "observation.ee_pose": {
            "dtype": "float32",
            "shape": [
                14
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            "names": [
                "l_pos_x",
                "l_pos_y",
                "l_pos_z",
                "l_quat_w",
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                "l_quat_y",
                "l_quat_z",
                "r_pos_x",
                "r_pos_y",
                "r_pos_z",
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    }
}

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