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sequence
observation.state
sequence
timestamp
float32
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29.5
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int64
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[ -17.52381134033203, 63.28634262084961, 90.67352294921875, 58.22908401489258, -50.81419372558594, 49.494224548339844 ]
[ -20.21484375, 65.478515625, 97.119140625, 60.99609375, -47.109375, 49.58677673339844 ]
2.2
66
0
66
0
[ -17.387327194213867, 63.1060905456543, 90.548828125, 58.06254959106445, -51.035728454589844, 49.52369689941406 ]
[ -19.6875, 63.80859375, 96.416015625, 60.46875, -48.076171875, 49.58677673339844 ]
2.233333
67
0
67
0
[ -16.756113052368164, 61.72325897216797, 90.09181213378906, 57.25654983520508, -52.360023498535156, 49.27289962768555 ]
[ -19.072265625, 62.314453125, 95.80078125, 59.853515625, -49.130859375, 49.58677673339844 ]
2.266667
68
0
68
0
[ -16.74725341796875, 60.92401123046875, 89.27082824707031, 57.26055908203125, -52.195613861083984, 49.410240173339844 ]
[ -18.544921875, 61.259765625, 95.44921875, 59.326171875, -50.009765625, 49.58677673339844 ]
2.3
69
0
69
0
[ -16.668100357055664, 60.52183151245117, 89.38070678710938, 56.94839096069336, -52.89494323730469, 49.21646499633789 ]
[ -18.017578125, 60.205078125, 95.185546875, 58.798828125, -50.80078125, 49.58677673339844 ]
2.333333
70
0
70
0
[ -16.424795150756836, 59.78062057495117, 88.90267181396484, 56.77091979980469, -53.29629898071289, 49.095367431640625 ]
[ -17.666015625, 59.326171875, 94.5703125, 58.359375, -51.328125, 49.58677673339844 ]
2.366667
71
0
71
0
[ -16.51984405517578, 59.13506317138672, 88.15470123291016, 56.62838363647461, -53.00297546386719, 49.14715576171875 ]
[ -17.314453125, 58.53515625, 94.130859375, 57.919921875, -51.943359375, 49.58677673339844 ]
2.4
72
0
72
0
[ -16.464458465576172, 58.8446044921875, 87.99030303955078, 56.52202606201172, -53.449954986572266, 49.44867706298828 ]
[ -17.05078125, 57.83203125, 93.69140625, 57.65625, -52.3828125, 49.58677673339844 ]
2.433333
73
0
73
0
[ -16.694116592407227, 58.23674011230469, 87.46696472167969, 56.534000396728516, -53.48174285888672, 49.27970886230469 ]
[ -16.962890625, 57.216796875, 93.076171875, 57.392578125, -52.3828125, 49.58677673339844 ]
2.466667
74
0
74
0
[ -16.601444244384766, 57.94759750366211, 86.9674072265625, 56.501426696777344, -53.4798583984375, 49.22344207763672 ]
[ -16.875, 56.77734375, 92.548828125, 57.3046875, -52.734375, 49.58677673339844 ]
2.5
75
0
75
0
[ -16.671907424926758, 57.44850540161133, 86.93590545654297, 56.156463623046875, -54.055076599121094, 48.9422492980957 ]
[ -16.875, 56.25, 92.109375, 57.12890625, -52.998046875, 49.58677673339844 ]
2.533333
76
0
76
0
[ -16.84952735900879, 57.239959716796875, 86.47267150878906, 56.121028900146484, -54.17042922973633, 48.934879302978516 ]
[ -16.875, 55.810546875, 91.494140625, 57.12890625, -53.173828125, 49.58677673339844 ]
2.566667
77
0
77
0
[ -16.93775749206543, 56.97463607788086, 86.15982055664062, 56.21797180175781, -53.734901428222656, 48.936790466308594 ]
[ -16.875, 55.37109375, 91.142578125, 57.041015625, -53.525390625, 49.50413131713867 ]
2.6
78
0
78
0
[ -16.98813819885254, 56.48260498046875, 85.68805694580078, 56.09007263183594, -54.152008056640625, 48.820465087890625 ]
[ -16.875, 55.01953125, 90.87890625, 56.953125, -53.701171875, 49.338844299316406 ]
2.633333
79
0
79
0
[ -17.080968856811523, 56.26484298706055, 85.73668670654297, 55.9730224609375, -53.94986343383789, 48.5457649230957 ]
[ -16.875, 54.66796875, 90.52734375, 56.953125, -53.701171875, 49.25619888305664 ]
2.666667
80
0
80
0
[ -17.272558212280273, 55.94217300415039, 85.56949615478516, 55.86741638183594, -54.169029235839844, 48.389129638671875 ]
[ -16.875, 54.228515625, 90.17578125, 56.77734375, -53.701171875, 49.090911865234375 ]
2.7
81
0
81
0
[ -17.1840877532959, 55.92544937133789, 85.375732421875, 56.02291488647461, -53.7384033203125, 48.65337371826172 ]
[ -16.875, 53.96484375, 89.912109375, 56.689453125, -53.7890625, 48.84297561645508 ]
2.733333
82
0
82
0
[ -17.328346252441406, 55.48562240600586, 85.27967834472656, 55.88217544555664, -53.78093719482422, 47.95109558105469 ]
[ -16.875, 53.61328125, 89.6484375, 56.6015625, -53.7890625, 48.76033020019531 ]
2.766667
83
0
83
0
[ -17.721094131469727, 55.225929260253906, 85.57643127441406, 55.65493392944336, -53.39297103881836, 45.9058837890625 ]
[ -16.875, 53.4375, 89.47265625, 56.6015625, -53.7890625, 48.76033020019531 ]
2.8
84
0
84
0
[ -17.783761978149414, 55.02804183959961, 85.4632568359375, 55.57546615600586, -52.83110046386719, 43.767120361328125 ]
[ -16.875, 53.173828125, 89.296875, 56.6015625, -53.7890625, 48.429752349853516 ]
2.833333
85
0
85
0
[ -18.01457405090332, 54.581336975097656, 85.80043029785156, 55.38591003417969, -53.04391098022461, 40.79073715209961 ]
[ -16.962890625, 53.0859375, 89.296875, 56.6015625, -53.7890625, 47.685951232910156 ]
2.866667
86
0
86
0
[ -18.34252166748047, 54.21702575683594, 85.70217895507812, 55.356056213378906, -53.431453704833984, 39.2869987487793 ]
[ -16.962890625, 53.0859375, 89.296875, 56.6015625, -53.701171875, 46.44628143310547 ]
2.9
87
0
87
0
[ -18.159696578979492, 53.93037414550781, 85.68633270263672, 55.47623825073242, -52.77451705932617, 35.037818908691406 ]
[ -17.138671875, 52.998046875, 89.296875, 56.6015625, -53.61328125, 44.79338836669922 ]
2.933333
88
0
88
0
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[ -17.40234375, 52.822265625, 89.296875, 56.513671875, -53.61328125, 42.97520446777344 ]
2.966667
89
0
89
0
[ -19.365516662597656, 53.306541442871094, 85.01539611816406, 55.74781036376953, -53.259559631347656, 29.232622146606445 ]
[ -17.40234375, 52.646484375, 89.208984375, 56.513671875, -53.4375, 40.90909194946289 ]
3
90
0
90
0
[ -19.210506439208984, 53.906795501708984, 85.22367858886719, 55.85618209838867, -53.2757453918457, 26.15045928955078 ]
[ -17.578125, 52.55859375, 88.9453125, 56.513671875, -53.4375, 38.429752349853516 ]
3.033333
91
0
91
0
[ -19.542144775390625, 53.67945098876953, 85.03266906738281, 55.93125915527344, -53.403472900390625, 22.23161506652832 ]
[ -17.841796875, 52.55859375, 88.681640625, 56.513671875, -53.4375, 35.78512191772461 ]
3.066667
92
0
92
0
[ -19.871273040771484, 53.283626556396484, 84.33792114257812, 56.158382415771484, -53.94026184082031, 18.002649307250977 ]
[ -18.017578125, 52.55859375, 88.41796875, 56.42578125, -53.4375, 32.97520446777344 ]
3.1
93
0
93
0
[ -20.092445373535156, 53.415409088134766, 83.73091125488281, 56.33390426635742, -54.43610382080078, 14.496665000915527 ]
[ -18.6328125, 52.470703125, 87.978515625, 56.07421875, -53.4375, 30.082645416259766 ]
3.133333
94
0
94
0
[ -20.322803497314453, 53.482765197753906, 83.47093200683594, 56.33063888549805, -55.67389678955078, 8.320087432861328 ]
[ -19.423828125, 52.294921875, 87.36328125, 55.986328125, -53.61328125, 26.942148208618164 ]
3.166667
95
0
95
0
[ -20.959896087646484, 53.19588851928711, 82.94891357421875, 56.30765914916992, -56.47958755493164, 3.929147720336914 ]
[ -19.86328125, 52.294921875, 86.8359375, 55.986328125, -54.052734375, 23.471073150634766 ]
3.2
96
0
96
0
[ -20.863754272460938, 53.574771881103516, 82.98361206054688, 56.46511459350586, -56.687599182128906, 2.749269485473633 ]
[ -20.21484375, 52.119140625, 86.396484375, 55.986328125, -54.84375, 19.752065658569336 ]
3.233333
97
0
97
0
[ -21.148967742919922, 53.260833740234375, 82.26441955566406, 56.40441131591797, -57.26605987548828, 0.3437633514404297 ]
[ -20.56640625, 51.943359375, 86.044921875, 56.07421875, -55.546875, 15.70248031616211 ]
3.266667
98
0
98
0
[ -21.427993774414062, 53.682167053222656, 82.07998657226562, 56.348915100097656, -58.21965026855469, -1.594533920288086 ]
[ -20.654296875, 51.85546875, 85.869140625, 56.25, -55.986328125, 11.65289306640625 ]
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": 5,
    "total_frames": 4416,
    "total_tasks": 1,
    "total_videos": 15,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
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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.cam1": {
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        "timestamp": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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