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sequence
observation.state
sequence
timestamp
float32
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20.5
frame_index
int64
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616
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2.166667
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0
65
0
[ 48.46668243408203, 101.48301696777344, 97.15924835205078, 74.14967346191406, -0.0517120361328125, 25.403053283691406 ]
[ 49.5703125, 101.689453125, 99.66796875, 74.794921875, 1.494140625, 25.68735122680664 ]
2.2
66
0
66
0
[ 48.633705139160156, 100.42819213867188, 97.00257110595703, 73.71744537353516, 0.1529693603515625, 25.25233268737793 ]
[ 49.5703125, 101.6015625, 99.66796875, 74.794921875, 1.494140625, 25.68735122680664 ]
2.233333
67
0
67
0
[ 48.30577850341797, 99.417724609375, 97.21295928955078, 73.52348327636719, 0.4777069091796875, 25.3503475189209 ]
[ 49.482421875, 101.337890625, 99.66796875, 74.794921875, 0.966796875, 25.451690673828125 ]
2.266667
68
0
68
0
[ 48.392356872558594, 98.1442642211914, 97.13517761230469, 73.04153442382812, 0.31280517578125, 25.51441764831543 ]
[ 49.306640625, 100.37109375, 99.580078125, 74.53125, 0.791015625, 25.451690673828125 ]
2.3
69
0
69
0
[ 47.61444854736328, 97.23662567138672, 97.2649154663086, 72.75702667236328, 0.5469207763671875, 25.72565269470215 ]
[ 49.21875, 99.66796875, 99.580078125, 74.443359375, 0.791015625, 25.451690673828125 ]
2.333333
70
0
70
0
[ 47.66377258300781, 96.32012939453125, 97.09353637695312, 72.3414306640625, 0.360748291015625, 25.702022552490234 ]
[ 49.04296875, 98.525390625, 99.580078125, 74.1796875, 0.791015625, 25.451690673828125 ]
2.366667
71
0
71
0
[ 49.99479675292969, 99.80850219726562, 99.37260437011719, 72.16905212402344, 0.540802001953125, 25.251699447631836 ]
[ 48.69140625, 97.3828125, 99.580078125, 73.828125, 0.703125, 25.451690673828125 ]
2.4
72
0
72
0
[ 50.27806091308594, 98.59300994873047, 99.25231170654297, 71.60661315917969, 0.371795654296875, 25.022045135498047 ]
[ 48.515625, 96.416015625, 99.580078125, 73.564453125, 0.703125, 25.451690673828125 ]
2.433333
73
0
73
0
[ 50.26457214355469, 97.67335510253906, 99.55720520019531, 71.05325317382812, 0.2557525634765625, 24.854753494262695 ]
[ 48.33984375, 96.240234375, 99.580078125, 73.30078125, 0.703125, 25.451690673828125 ]
2.466667
74
0
74
0
[ 50.283363342285156, 96.42808532714844, 99.65546417236328, 70.44465637207031, 0.1742401123046875, 24.61972999572754 ]
[ 48.251953125, 96.328125, 99.755859375, 72.861328125, 0.703125, 25.451690673828125 ]
2.5
75
0
75
0
[ 50.20117950439453, 95.27091979980469, 100.02751922607422, 70.047607421875, 0.1072998046875, 24.649965286254883 ]
[ 49.04296875, 96.416015625, 100.283203125, 72.24609375, 0.52734375, 25.451690673828125 ]
2.533333
76
0
76
0
[ 50.283897399902344, 94.41059112548828, 100.20298767089844, 69.71095275878906, 0.18096923828125, 24.62565803527832 ]
[ 49.306640625, 95.9765625, 100.283203125, 71.982421875, 0.703125, 25.294580459594727 ]
2.566667
77
0
77
0
[ 50.000267028808594, 93.32813262939453, 100.44473266601562, 69.32864379882812, 0.22491455078125, 24.755525588989258 ]
[ 49.482421875, 95.09765625, 100.37109375, 71.279296875, 0.52734375, 25.294580459594727 ]
2.6
78
0
78
0
[ 49.9783935546875, 92.62266540527344, 100.4266128540039, 68.8173828125, 0.029876708984375, 24.79965591430664 ]
[ 50.009765625, 94.21875, 100.634765625, 70.576171875, 0.439453125, 25.294580459594727 ]
2.633333
79
0
79
0
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[ 50.185546875, 93.1640625, 100.810546875, 70.3125, 0.439453125, 25.294580459594727 ]
2.666667
80
0
80
0
[ 49.672508239746094, 95.17024230957031, 99.88924407958984, 68.59492492675781, 0.4150848388671875, 25.611814498901367 ]
[ 50.2734375, 92.4609375, 100.8984375, 70.3125, 0.703125, 25.294580459594727 ]
2.7
81
0
81
0
[ 49.353729248046875, 94.48358917236328, 100.16594696044922, 67.96533203125, 0.490142822265625, 25.583953857421875 ]
[ 50.2734375, 92.373046875, 100.8984375, 69.873046875, 0.703125, 25.294580459594727 ]
2.733333
82
0
82
0
[ 49.458396911621094, 93.94129943847656, 100.72744750976562, 67.24388885498047, 0.6576690673828125, 25.47646713256836 ]
[ 50.09765625, 92.373046875, 100.8984375, 69.345703125, 0.615234375, 25.294580459594727 ]
2.766667
83
0
83
0
[ 49.28828430175781, 93.29869842529297, 101.23175811767578, 66.68244171142578, 0.69830322265625, 25.612653732299805 ]
[ 49.921875, 92.63671875, 100.8984375, 69.2578125, 0.52734375, 25.294580459594727 ]
2.8
84
0
84
0
[ 49.44624328613281, 92.67044067382812, 101.57447052001953, 66.13494873046875, 0.945556640625, 25.589046478271484 ]
[ 49.74609375, 92.63671875, 100.986328125, 68.5546875, 0.703125, 25.294580459594727 ]
2.833333
85
0
85
0
[ 49.30951690673828, 91.9628677368164, 101.88435363769531, 65.70243072509766, 0.9101715087890625, 25.783519744873047 ]
[ 49.658203125, 92.63671875, 101.42578125, 67.67578125, 0.52734375, 25.294580459594727 ]
2.866667
86
0
86
0
[ 49.37586212158203, 91.52223205566406, 102.30455017089844, 65.15428161621094, 1.03656005859375, 25.631675720214844 ]
[ 49.658203125, 92.109375, 101.6015625, 67.5, 0.703125, 25.294580459594727 ]
2.9
87
0
87
0
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[ 49.74609375, 91.58203125, 102.041015625, 66.97265625, 0.703125, 25.294580459594727 ]
2.933333
88
0
88
0
[ 49.125709533691406, 90.7110824584961, 99.09899139404297, 66.63243103027344, 2.2572479248046875, 25.302366256713867 ]
[ 49.833984375, 91.23046875, 102.48046875, 66.357421875, 0.703125, 25.294580459594727 ]
2.966667
89
0
89
0
[ 48.800201416015625, 89.84331512451172, 99.10380554199219, 66.2314224243164, 2.4611663818359375, 25.234214782714844 ]
[ 49.921875, 91.142578125, 102.568359375, 66.181640625, 0.615234375, 25.294580459594727 ]
3
90
0
90
0
[ 48.77641296386719, 89.06124877929688, 99.21510314941406, 65.71936798095703, 2.5289764404296875, 25.003032684326172 ]
[ 50.009765625, 90.52734375, 102.3046875, 66.181640625, 1.318359375, 25.294580459594727 ]
3.033333
91
0
91
0
[ 48.57402801513672, 88.3427734375, 99.68911743164062, 65.25146484375, 2.7416229248046875, 25.167522430419922 ]
[ 49.74609375, 89.736328125, 101.77734375, 66.09375, 1.669921875, 25.294580459594727 ]
3.066667
92
0
92
0
[ 48.54438781738281, 87.67443084716797, 99.74811553955078, 64.76583862304688, 2.9406585693359375, 25.08301544189453 ]
[ 49.5703125, 89.033203125, 101.77734375, 65.56640625, 1.494140625, 25.294580459594727 ]
3.1
93
0
93
0
[ 48.222190856933594, 87.09178924560547, 100.09609985351562, 64.34117889404297, 3.0243988037109375, 25.16222381591797 ]
[ 49.306640625, 88.154296875, 101.77734375, 65.7421875, 1.845703125, 25.294580459594727 ]
3.133333
94
0
94
0
[ 48.13292694091797, 86.52240753173828, 100.17001342773438, 63.93299102783203, 2.823577880859375, 24.96347427368164 ]
[ 49.04296875, 87.36328125, 101.77734375, 65.91796875, 2.4609375, 25.294580459594727 ]
3.166667
95
0
95
0
[ 49.86161804199219, 87.80812072753906, 101.42094421386719, 64.58467102050781, 3.9949188232421875, 25.720436096191406 ]
[ 48.8671875, 86.748046875, 101.77734375, 65.390625, 2.4609375, 25.294580459594727 ]
3.2
96
0
96
0
[ 50.20342254638672, 87.03544616699219, 101.50784301757812, 63.864173889160156, 4.2456817626953125, 25.666852951049805 ]
[ 48.779296875, 86.220703125, 101.77734375, 64.51171875, 2.197265625, 25.294580459594727 ]
3.233333
97
0
97
0
[ 49.69102478027344, 87.1843490600586, 101.8169937133789, 63.428890228271484, 4.2383575439453125, 25.67748260498047 ]
[ 48.779296875, 86.044921875, 101.77734375, 64.423828125, 2.197265625, 25.294580459594727 ]
3.266667
98
0
98
0
[ 49.79515075683594, 86.6826171875, 101.32704162597656, 63.10215759277344, 4.0475921630859375, 25.49834442138672 ]
[ 48.779296875, 86.044921875, 102.216796875, 64.423828125, 2.63671875, 25.294580459594727 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so100",
    "total_episodes": 1,
    "total_frames": 617,
    "total_tasks": 1,
    "total_videos": 3,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
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    "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": {
        "action": {
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
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                "main_wrist_roll",
                "main_gripper"
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        },
        "observation.images.FrontCam": {
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        "observation.images.TopCam": {
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        "observation.images.WristCam": {
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            "names": [
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        "timestamp": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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