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timestamp
float32
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19.7
frame_index
int64
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393
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int64
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29
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int64
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9.93k
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1.7
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1.75
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1.8
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1.85
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1.9
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1.95
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2
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2.05
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2.1
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
48
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48
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2.45
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2.5
50
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50
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2.55
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2.6
52
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2.65
53
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2.7
54
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2.75
55
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2.8
56
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2.85
57
0
57
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2.9
58
0
58
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2.95
59
0
59
0
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3
60
0
60
0
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3.05
61
0
61
0
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3.1
62
0
62
0
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3.15
63
0
63
0
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3.2
64
0
64
0
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3.25
65
0
65
0
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3.3
66
0
66
0
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3.35
67
0
67
0
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3.4
68
0
68
0
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3.45
69
0
69
0
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3.5
70
0
70
0
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3.55
71
0
71
0
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3.6
72
0
72
0
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3.65
73
0
73
0
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3.7
74
0
74
0
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3.75
75
0
75
0
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3.8
76
0
76
0
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3.85
77
0
77
0
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3.9
78
0
78
0
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3.95
79
0
79
0
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4
80
0
80
0
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4.05
81
0
81
0
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4.1
82
0
82
0
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4.15
83
0
83
0
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4.2
84
0
84
0
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4.25
85
0
85
0
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4.3
86
0
86
0
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4.35
87
0
87
0
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4.4
88
0
88
0
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4.45
89
0
89
0
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4.5
90
0
90
0
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4.55
91
0
91
0
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4.6
92
0
92
0
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4.65
93
0
93
0
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4.7
94
0
94
0
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4.75
95
0
95
0
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4.8
96
0
96
0
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4.85
97
0
97
0
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4.9
98
0
98
0
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4.95
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": 50,
    "total_frames": 20715,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:50"
    },
    "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",
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            "names": {
                "axes": [
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                    "q_3",
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                    "q_5",
                    "q_6",
                    "qdot_0",
                    "qdot_1",
                    "qdot_2",
                    "qdot_3",
                    "qdot_4",
                    "qdot_5",
                    "qdot_6",
                    "x",
                    "y",
                    "z",
                    "qx",
                    "qy",
                    "qz",
                    "qw",
                    "vx",
                    "vy",
                    "vz",
                    "wx",
                    "wy",
                    "wz",
                    "gripper_position",
                    "grasp_state"
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        },
        "action": {
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            "names": {
                "axes": [
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        },
        "observation.images.left_back": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.fps": 20,
                "video.channels": 3,
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        "observation.images.wrist": {
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            "names": [
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            "info": {
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}

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