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sequence
observation.state
sequence
timestamp
float32
0
12.4
frame_index
int64
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371
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[ 1.0546875, 38.759765625, 27.685546875, 82.705078125, 2.63671875, 1.806755781173706 ]
2.166667
65
0
65
0
[ 3.901714324951172, 50.97749328613281, 26.106903076171875, 87.03730010986328, 4.2137603759765625, 1.6070903539657593 ]
[ 0.966796875, 39.462890625, 27.685546875, 82.880859375, 2.63671875, 1.806755781173706 ]
2.2
66
0
66
0
[ 4.4055023193359375, 52.57281494140625, 25.654460906982422, 87.89361572265625, 4.0401611328125, 1.8555655479431152 ]
[ 1.23046875, 41.044921875, 27.7734375, 85.078125, 2.8125, 1.806755781173706 ]
2.233333
67
0
67
0
[ 5.085517883300781, 54.07555389404297, 26.2315673828125, 88.6661605834961, 4.333763122558594, 1.9624037742614746 ]
[ 1.93359375, 42.451171875, 27.861328125, 86.396484375, 3.69140625, 1.806755781173706 ]
2.266667
68
0
68
0
[ 5.863395690917969, 56.75666809082031, 26.53838348388672, 89.492919921875, 4.300392150878906, 2.0235841274261475 ]
[ 2.4609375, 44.560546875, 27.7734375, 86.30859375, 3.33984375, 1.806755781173706 ]
2.3
69
0
69
0
[ 6.684658050537109, 58.835105895996094, 26.932254791259766, 90.15931701660156, 4.6042022705078125, 2.0379467010498047 ]
[ 3.427734375, 46.845703125, 27.685546875, 87.36328125, 3.515625, 1.806755781173706 ]
2.333333
70
0
70
0
[ 7.286762237548828, 61.3354606628418, 27.860916137695312, 90.6319580078125, 4.4976348876953125, 1.9270575046539307 ]
[ 4.306640625, 49.21875, 27.685546875, 89.033203125, 4.130859375, 1.806755781173706 ]
2.366667
71
0
71
0
[ 7.0700225830078125, 62.35519790649414, 33.527984619140625, 93.99850463867188, 3.640289306640625, 17.162851333618164 ]
[ 5.361328125, 51.416015625, 27.7734375, 89.208984375, 4.04296875, 1.806755781173706 ]
2.4
72
0
72
0
[ 6.692798614501953, 63.54909133911133, 32.61140823364258, 94.54141235351562, 2.1796417236328125, 19.396867752075195 ]
[ 6.591796875, 54.140625, 28.212890625, 90, 3.779296875, 1.806755781173706 ]
2.433333
73
0
73
0
[ 7.318660736083984, 65.02931213378906, 32.86606979370117, 95.3887710571289, 2.4708709716796875, 20.74585723876953 ]
[ 6.943359375, 55.8984375, 29.00390625, 91.23046875, 4.04296875, 2.670856237411499 ]
2.466667
74
0
74
0
[ 7.348644256591797, 66.0616455078125, 32.68883514404297, 95.75321960449219, 2.1030349731445312, 20.975788116455078 ]
[ 6.943359375, 57.919921875, 31.376953125, 92.63671875, 3.427734375, 6.677140235900879 ]
2.5
75
0
75
0
[ 7.9276123046875, 67.81525421142578, 32.92006301879883, 96.56814575195312, 2.3265838623046875, 19.882659912109375 ]
[ 7.119140625, 59.150390625, 32.16796875, 94.306640625, 3.251953125, 12.725845336914062 ]
2.533333
76
0
76
0
[ 8.252296447753906, 68.59162139892578, 32.27409744262695, 97.04595947265625, 1.8323135375976562, 17.443693161010742 ]
[ 7.20703125, 60.029296875, 32.607421875, 94.306640625, 2.900390625, 15.94658374786377 ]
2.566667
77
0
77
0
[ 9.102897644042969, 70.38453674316406, 32.828346252441406, 97.43562316894531, 1.6616592407226562, 14.201397895812988 ]
[ 7.20703125, 61.171875, 32.958984375, 95.44921875, 2.548828125, 16.57501983642578 ]
2.6
78
0
78
0
[ 9.582817077636719, 72.23375701904297, 32.80355453491211, 97.77586364746094, 1.1177902221679688, 10.518363952636719 ]
[ 7.294921875, 62.2265625, 33.22265625, 96.6796875, 2.724609375, 16.02513885498047 ]
2.633333
79
0
79
0
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2.666667
80
0
80
0
[ 3.513324737548828, 63.38517761230469, 34.60084915161133, 98.69216918945312, 5.315025329589844, 1.7404029369354248 ]
[ 8.349609375, 65.7421875, 33.3984375, 97.470703125, 1.7578125, 12.333070755004883 ]
2.7
81
0
81
0
[ 2.750629425048828, 64.87871551513672, 34.866703033447266, 98.87619018554688, 5.185264587402344, 1.330185055732727 ]
[ 9.052734375, 66.09375, 33.662109375, 97.822265625, 1.93359375, 10.683424949645996 ]
2.733333
82
0
82
0
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[ 8.525390625, 64.248046875, 34.27734375, 97.822265625, 1.93359375, 6.755695343017578 ]
2.766667
83
0
83
0
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[ 7.03125, 63.720703125, 34.98046875, 98.525390625, 3.779296875, 4.320502758026123 ]
2.8
84
0
84
0
[ 0.5037879943847656, 67.76724243164062, 37.594120025634766, 98.520751953125, 5.873191833496094, 1.0926159620285034 ]
[ 5.625, 63.193359375, 35.947265625, 98.4375, 4.130859375, 3.534956693649292 ]
2.833333
85
0
85
0
[ -0.23015975952148438, 69.61843872070312, 38.652549743652344, 98.35435485839844, 5.9932403564453125, 1.0146993398666382 ]
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2.866667
86
0
86
0
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[ 2.28515625, 63.10546875, 38.408203125, 98.0859375, 4.74609375, 2.199528694152832 ]
2.9
87
0
87
0
[ 0.2388153076171875, 62.424766540527344, 17.527816772460938, 96.93861389160156, 8.601692199707031, 9.205709457397461 ]
[ 1.0546875, 63.896484375, 39.19921875, 98.701171875, 5.2734375, 1.885310411453247 ]
2.933333
88
0
88
0
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[ -0.17578125, 65.56640625, 39.55078125, 98.525390625, 4.921875, 1.5710917711257935 ]
2.966667
89
0
89
0
[ -0.3919944763183594, 62.4417724609375, 15.272422790527344, 96.1651611328125, 9.659553527832031, 9.125506401062012 ]
[ -0.52734375, 65.21484375, 38.935546875, 98.525390625, 5.2734375, 2.199528694152832 ]
3
90
0
90
0
[ -1.0036277770996094, 62.470863342285156, 14.331817626953125, 96.03984069824219, 10.023719787597656, 7.662936687469482 ]
[ -0.439453125, 62.40234375, 34.541015625, 97.998046875, 5.80078125, 5.263157844543457 ]
3.033333
91
0
91
0
[ -1.2442665100097656, 62.301429748535156, 13.689140319824219, 95.70919799804688, 10.238929748535156, 5.965394973754883 ]
[ -0.439453125, 61.171875, 28.564453125, 97.03125, 7.03125, 6.441476821899414 ]
3.066667
92
0
92
0
[ -2.068309783935547, 62.24100112915039, 13.31634521484375, 95.57460021972656, 10.259681701660156, 3.8817758560180664 ]
[ -0.087890625, 60.732421875, 24.169921875, 96.591796875, 8.525390625, 6.441476821899414 ]
3.1
93
0
93
0
[ -2.3043975830078125, 61.92641067504883, 12.728878021240234, 95.16387176513672, 10.305519104003906, 2.5561840534210205 ]
[ -0.3515625, 60.8203125, 21.884765625, 97.119140625, 8.96484375, 6.205813407897949 ]
3.133333
94
0
94
0
[ -3.324047088623047, 61.59732437133789, 12.201461791992188, 95.44950866699219, 11.034683227539062, 2.127201557159424 ]
[ -0.791015625, 61.259765625, 19.6875, 96.943359375, 9.4921875, 4.0848388671875 ]
3.166667
95
0
95
0
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[ -1.142578125, 61.5234375, 17.138671875, 96.416015625, 9.404296875, 4.006284713745117 ]
3.2
96
0
96
0
[ 0.12029647827148438, 58.84047317504883, 20.89647674560547, 96.89251708984375, 9.491409301757812, 20.44342803955078 ]
[ -2.109375, 61.259765625, 15.29296875, 96.416015625, 10.37109375, 3.063629150390625 ]
3.233333
97
0
97
0
[ 0.19533157348632812, 59.875633239746094, 21.301883697509766, 96.86361694335938, 9.836578369140625, 22.976526260375977 ]
[ -2.900390625, 60.1171875, 15.732421875, 96.328125, 10.37109375, 3.377847671508789 ]
3.266667
98
0
98
0
[ 0.14188003540039062, 60.00640106201172, 21.375839233398438, 96.96464538574219, 9.2525634765625, 25.10563850402832 ]
[ -2.548828125, 59.4140625, 19.072265625, 96.50390625, 10.01953125, 7.619795799255371 ]
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": 372,
    "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": {
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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",
                "main_wrist_flex",
                "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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        "timestamp": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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