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float32
0
26.5
frame_index
int64
0
265
episode_index
int64
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101
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int64
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18.5k
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int64
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0.1
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0.6
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0.8
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0.9
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1
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1.1
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1.2
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1.3
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1.4
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1.5
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1.6
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1.8
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1.9
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2
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2.1
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2.2
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2.3
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2.4
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2.5
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2.6
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2.7
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2.8
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2.9
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3
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3.1
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3.2
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3.3
33
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3.4
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3.5
35
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35
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3.6
36
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36
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3.7
37
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37
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3.8
38
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38
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3.9
39
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39
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4
40
0
40
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4.1
41
0
41
0
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4.2
42
0
42
0
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4.3
43
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0
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4.4
44
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4.5
45
0
45
0
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4.6
46
0
46
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4.7
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0
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4.8
48
0
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4.9
49
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5
50
0
50
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5.1
51
0
51
0
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5.2
52
0
52
0
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5.3
53
0
53
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5.4
54
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54
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5.5
55
0
55
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5.6
56
0
56
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5.7
57
0
57
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5.8
58
0
58
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5.9
59
0
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6
60
0
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0
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6.1
61
0
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6.2
62
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0
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6.3
63
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6.4
64
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6.5
65
0
65
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6.8
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6.9
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7
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7.1
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7.2
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7.3
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73
0
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7.4
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74
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7.5
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0
75
0
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7.6
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0
76
0
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7.7
77
0
77
0
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7.8
78
0
78
0
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7.9
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79
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8
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0
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8.1
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8.2
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8.3
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0
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0
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8.4
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8.5
85
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8.6
86
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0
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8.7
87
0
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8.8
88
0
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8.9
89
0
89
0
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9
90
0
90
0
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9.1
91
0
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9.2
92
0
92
0
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9.3
93
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9.4
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9.5
95
0
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0
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9.6
96
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96
0
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9.7
97
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0
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9.8
98
0
98
0
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9.9
99
0
99
0
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This dataset was created using LeRobot.

Dataset Description

Franka Dual-Arm Beat Block Hammer Dataset

Pick the hammer and strike the block.

Hardware

  • Robot: 2× Franka Emika Panda (7-DOF dual-arm setup)
  • Cameras: 3× Intel RealSense D435 (256×256 RGB, front + wrist views)

State Space (38 dimensions)

Left Arm (19 dimensions):

  • tcp_pose (6): End-effector pose [x, y, z, roll, pitch, yaw] in meters and radians
  • tcp_vel (6): End-effector velocity [vx, vy, vz, wx, wy, wz] in m/s and rad/s
  • tcp_force (3): Force at end-effector [fx, fy, fz] in Newtons
  • tcp_torque (3): Torque at end-effector [tx, ty, tz] in Newton-meters
  • gripper_pose (1): Gripper opening (0=closed, 1=open)

Right Arm (19 dimensions): Same structure as left arm

Action Space (14 dimensions)

Left Arm (7 dimensions):

  • delta_pose (6): Incremental pose change [dx, dy, dz, droll, dpitch, dyaw]
  • gripper (1): Target gripper state (0=closed, 1=open)

Right Arm (7 dimensions): Same structure as left arm

  • Homepage: [More Information Needed]
  • Paper: [More Information Needed]
  • License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "franka",
    "total_episodes": 102,
    "total_frames": 18504,
    "total_tasks": 1,
    "total_videos": 306,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:102"
    },
    "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": {
        "image_front": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "image_wrist_left": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "image_wrist_right": {
            "dtype": "video",
            "shape": [
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                256,
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            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "state": {
            "dtype": "float32",
            "shape": [
                38
            ],
            "names": {
                "dims": [
                    "left/tcp_x",
                    "left/tcp_y",
                    "left/tcp_z",
                    "left/tcp_roll",
                    "left/tcp_pitch",
                    "left/tcp_yaw",
                    "left/tcp_vx",
                    "left/tcp_vy",
                    "left/tcp_vz",
                    "left/tcp_wx",
                    "left/tcp_wy",
                    "left/tcp_wz",
                    "left/gripper_pos",
                    "left/force_x",
                    "left/force_y",
                    "left/force_z",
                    "left/torque_x",
                    "left/torque_y",
                    "left/torque_z",
                    "right/tcp_x",
                    "right/tcp_y",
                    "right/tcp_z",
                    "right/tcp_roll",
                    "right/tcp_pitch",
                    "right/tcp_yaw",
                    "right/tcp_vx",
                    "right/tcp_vy",
                    "right/tcp_vz",
                    "right/tcp_wx",
                    "right/tcp_wy",
                    "right/tcp_wz",
                    "right/gripper_pos",
                    "right/force_x",
                    "right/force_y",
                    "right/force_z",
                    "right/torque_x",
                    "right/torque_y",
                    "right/torque_z"
                ]
            }
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": {
                "dims": [
                    "left/delta_x",
                    "left/delta_y",
                    "left/delta_z",
                    "left/delta_roll",
                    "left/delta_pitch",
                    "left/delta_yaw",
                    "left/gripper",
                    "right/delta_x",
                    "right/delta_y",
                    "right/delta_z",
                    "right/delta_roll",
                    "right/delta_pitch",
                    "right/delta_yaw",
                    "right/gripper"
                ]
            }
        },
        "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:

[More Information Needed]
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