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Travor278
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EmbodiedSWE-Task-Examples

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parquet
Languages:
English
Chinese
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Tags:
robotics
video
simulation
Libraries:
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pandas
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License:
Dataset card Data Studio Files
xet
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EmbodiedSWE-Task-Examples
File size: 37,571 Bytes
578663d
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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{
  "control_space": "joint_target",
  "control_freq_hz": 60.0,
  "origin": [
    "sim"
  ],
  "robot_type": "puzzle.coffee.franka.joint",
  "state_names": [
    "panda_joint1",
    "panda_joint2",
    "panda_joint3",
    "panda_joint4",
    "panda_joint5",
    "panda_joint6",
    "panda_joint7",
    "gripper"
  ],
  "action_names": [
    "panda_joint1_target",
    "panda_joint2_target",
    "panda_joint3_target",
    "panda_joint4_target",
    "panda_joint5_target",
    "panda_joint6_target",
    "panda_joint7_target",
    "gripper"
  ],
  "state_parts": {
    "arm_qpos": [
      0,
      7
    ],
    "gripper_qpos": [
      7,
      8
    ]
  },
  "action_parts": {
    "arm_qpos_target": [
      0,
      7
    ],
    "gripper_target": [
      7,
      8
    ]
  },
  "gripper": "closedness in [0,1]: 0 = fully open, 1 = fully closed",
  "idle_filter": {
    "enabled": false,
    "dropped_ticks": 0
  },
  "video_encoder": {
    "vcodec": "h264",
    "pix_fmt": null,
    "crf": null,
    "g": null,
    "gop_seconds": null,
    "preset": null,
    "note": "lerobot without configs.video: only the codec was set"
  },
  "video_files": {
    "max_seconds": 400,
    "size_mb": 62
  },
  "workers": 4,
  "raw_command": true,
  "controller": {
    "class": "FrankaRobot",
    "leaves": [
      {
        "class": "JointController",
        "control_period": 2,
        "control_dt": 0.016666666666666666,
        "cfg": {
          "dt": 0.02,
          "joint_names": [
            "panda_joint[1-7]"
          ],
          "scale": 1.0,
          "offset": 0.0
        }
      },
      {
        "class": "JointController",
        "control_period": 2,
        "control_dt": 0.016666666666666666,
        "cfg": {
          "dt": 0.02,
          "joint_names": [
            "panda_finger_joint.*"
          ],
          "scale": 1.0,
          "offset": 0.0
        }
      }
    ],
    "joint_names": [
      "panda_joint1",
      "panda_joint2",
      "panda_joint3",
      "panda_joint4",
      "panda_joint5",
      "panda_joint6",
      "panda_joint7",
      "panda_finger_joint1",
      "panda_finger_joint2"
    ],
    "joint_stiffness": [
      400.0,
      400.0,
      400.0,
      400.0,
      400.0,
      400.0,
      400.0,
      2000.0,
      2000.0
    ],
    "joint_damping": [
      80.0,
      80.0,
      80.0,
      80.0,
      80.0,
      80.0,
      80.0,
      100.0,
      100.0
    ]
  },
  "mid_solve_controller_changes": [],
  "episodes": [
    "/root/release/coffee/data/t3_recover_a/ep_0000",
    "/root/release/coffee/data/t4_baylast_a/ep_0003",
    "/root/release/coffee/data/t5_slideout_a/ep_0004",
    "/root/release/coffee/data/s3_east_a/ep_0001",
    "/root/release/coffee/data/p1_a/ep_0014",
    "/root/release/coffee/data/t2_shove_a/ep_0003",
    "/root/release/coffee/data/p1_a/ep_0000",
    "/root/release/coffee/data/p1_a/ep_0004",
    "/root/release/coffee/data/p1_a/ep_0008",
    "/root/release/coffee/data/p0_a/ep_0015",
    "/root/release/coffee/data/p0_a/ep_0020",
    "/root/release/coffee/data/p2_a/ep_0008",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0137",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0361",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0000",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0017",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0032",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0070",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0094",
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    "/root/release/coffee/data/batch_dynamics_0001/ep_0118",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0124",
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    "/root/release/coffee/data/batch_dynamics_0001/ep_0181",
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    "/root/release/coffee/data/batch_dynamics_0001/ep_0200",
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    "/root/release/coffee/data/batch_dynamics_0001/ep_0306",
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    "/root/release/coffee/data/t5_slideout_a/ep_0005",
    "/root/release/coffee/data/t1_cupfirst_b/ep_0000",
    "/root/release/coffee/data/s2_mirror_a/ep_0000",
    "/root/release/coffee/data/p3_b/ep_0002",
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    "/root/release/coffee/data/batch_dynamics_0001/ep_0127",
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    "/root/release/coffee/data/batch_dynamics_0001/ep_0207",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0223",
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    "/root/release/coffee/data/batch_dynamics_0001/ep_0335",
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    "/root/release/coffee/data/batch_dynamics_0001/ep_0347",
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    "/root/release/coffee/data/batch_dynamics_0001/ep_0493",
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    "/root/release/coffee/data/t3_recover_a/ep_0004",
    "/root/release/coffee/data/s4_tight_a/ep_0000",
    "/root/release/coffee/data/s5_fitted_a/ep_0000",
    "/root/release/coffee/data/t1_cupfirst_b/ep_0001",
    "/root/release/coffee/data/t2_shove_a/ep_0000",
    "/root/release/coffee/data/p3_b/ep_0004",
    "/root/release/coffee/data/p1_a/ep_0002",
    "/root/release/coffee/data/p1_a/ep_0006",
    "/root/release/coffee/data/p0_a/ep_0012",
    "/root/release/coffee/data/p0_a/ep_0018",
    "/root/release/coffee/data/p2_a/ep_0001",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0024",
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    "/root/release/coffee/data/batch_dynamics_0001/ep_0401",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0008",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0027",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0036",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0086",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0104",
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    "/root/release/coffee/data/batch_dynamics_0001/ep_0122",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0128",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0138",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0144",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0161",
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    "/root/release/coffee/data/batch_dynamics_0001/ep_0187",
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    "/root/release/coffee/data/batch_dynamics_0001/ep_0209",
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    "/root/release/coffee/data/batch_dynamics_0001/ep_0495",
    "/root/release/coffee/data/p0_a/ep_0006",
    "/root/release/coffee/data/t4_baylast_a/ep_0000",
    "/root/release/coffee/data/t5_slideout_a/ep_0000",
    "/root/release/coffee/data/s1_clutter_a/ep_0000",
    "/root/release/coffee/data/t1_cupfirst_b/ep_0003",
    "/root/release/coffee/data/t2_shove_a/ep_0002",
    "/root/release/coffee/data/p3_b/ep_0010",
    "/root/release/coffee/data/p1_a/ep_0003",
    "/root/release/coffee/data/p1_a/ep_0007",
    "/root/release/coffee/data/p0_a/ep_0013",
    "/root/release/coffee/data/p0_a/ep_0019",
    "/root/release/coffee/data/p2_a/ep_0006",
    "/root/release/coffee/data/batch_dynamics_0001/ep_0129",
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  ],
  "git_shas": [
    ""
  ],
  "created": "2026-09-08T03:29:02+00:00",
  "looks": {
    "count": 3,
    "note": "each source episode appears once per visual look (base, draw1, draw2): identical state/action rows, videos re-rendered under a different lighting/camera draw"
  }
}