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observation.state
sequence
timestamp
float32
0
39.6
frame_index
int64
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1.19k
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index
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[ 2.373046875, 121.728515625, 141.328125, 52.119140625, -7.470703125, 25.13671875 ]
2.233333
67
0
67
0
[ 2.294666290283203, 122.12693786621094, 139.28689575195312, 51.67243194580078, -7.867379665374756, 25.516462326049805 ]
[ 2.373046875, 121.728515625, 141.240234375, 52.119140625, -7.55859375, 25.224609375 ]
2.266667
68
0
68
0
[ 2.190089225769043, 121.84800720214844, 139.07736206054688, 51.579383850097656, -8.010406494140625, 25.50699806213379 ]
[ 2.373046875, 121.640625, 141.328125, 52.119140625, -7.646484375, 25.400390625 ]
2.3
69
0
69
0
[ 2.1378326416015625, 121.48797607421875, 139.02792358398438, 51.25537109375, -8.01215934753418, 25.523122787475586 ]
[ 2.373046875, 121.552734375, 141.240234375, 52.119140625, -7.734375, 25.400390625 ]
2.333333
70
0
70
0
[ 2.1379623413085938, 121.84930419921875, 139.14959716796875, 51.52048873901367, -7.950763702392578, 25.625349044799805 ]
[ 2.373046875, 121.376953125, 141.15234375, 51.85546875, -7.822265625, 25.400390625 ]
2.366667
71
0
71
0
[ 2.1478052139282227, 122.12027740478516, 139.25514221191406, 51.54996871948242, -8.15105152130127, 25.842151641845703 ]
[ 2.373046875, 121.201171875, 140.9765625, 51.767578125, -7.822265625, 25.576171875 ]
2.4
72
0
72
0
[ 2.0844221115112305, 121.69367218017578, 139.0623779296875, 51.33688735961914, -8.239371299743652, 25.8946475982666 ]
[ 2.28515625, 121.11328125, 141.064453125, 51.767578125, -7.91015625, 25.751953125 ]
2.433333
73
0
73
0
[ 1.9516839981079102, 121.8118896484375, 139.13714599609375, 51.26899719238281, -8.222465515136719, 25.962186813354492 ]
[ 2.28515625, 121.201171875, 140.9765625, 51.767578125, -7.998046875, 25.927734375 ]
2.466667
74
0
74
0
[ 1.8751554489135742, 121.82981872558594, 139.17984008789062, 51.183746337890625, -8.377388954162598, 26.213844299316406 ]
[ 2.197265625, 121.201171875, 140.9765625, 51.767578125, -7.998046875, 25.927734375 ]
2.5
75
0
75
0
[ 1.8284711837768555, 121.65658569335938, 139.09434509277344, 51.228126525878906, -8.511354446411133, 26.257535934448242 ]
[ 2.197265625, 121.201171875, 140.9765625, 51.6796875, -8.0859375, 26.015625 ]
2.533333
76
0
76
0
[ 1.8385801315307617, 121.7651138305664, 139.1682586669922, 50.97765350341797, -8.478687286376953, 26.370433807373047 ]
[ 2.109375, 121.201171875, 140.9765625, 51.50390625, -8.173828125, 26.279296875 ]
2.566667
77
0
77
0
[ 1.3217582702636719, 121.37042999267578, 139.09645080566406, 50.575279235839844, -8.525226593017578, 26.42525863647461 ]
[ 2.021484375, 121.201171875, 140.9765625, 51.50390625, -8.26171875, 26.3671875 ]
2.6
78
0
78
0
[ 1.4317054748535156, 121.26687622070312, 138.94798278808594, 50.983116149902344, -8.391985893249512, 26.712608337402344 ]
[ 1.7578125, 121.025390625, 140.9765625, 51.328125, -8.26171875, 26.455078125 ]
2.633333
79
0
79
0
[ 1.1039085388183594, 121.07756805419922, 138.94151306152344, 50.68932342529297, -8.260133743286133, 26.648021697998047 ]
[ 1.669921875, 120.673828125, 140.9765625, 51.240234375, -8.26171875, 26.630859375 ]
2.666667
80
0
80
0
[ 0.8454713821411133, 120.95519256591797, 138.91067504882812, 50.8763427734375, -8.556159973144531, 26.847070693969727 ]
[ 1.494140625, 120.498046875, 140.9765625, 51.15234375, -8.26171875, 26.630859375 ]
2.7
81
0
81
0
[ 0.3843355178833008, 120.49407196044922, 138.63221740722656, 50.441673278808594, -8.2760009765625, 27.002042770385742 ]
[ 1.23046875, 120.41015625, 140.9765625, 51.15234375, -8.349609375, 26.71875 ]
2.733333
82
0
82
0
[ -0.12839889526367188, 120.72254943847656, 138.76231384277344, 50.199703216552734, -8.214710235595703, 27.053348541259766 ]
[ 0.87890625, 120.146484375, 140.9765625, 51.064453125, -8.26171875, 26.89453125 ]
2.766667
83
0
83
0
[ -0.7676572799682617, 119.7146224975586, 138.09164428710938, 50.3221321105957, -7.761764049530029, 27.19963836669922 ]
[ 0.52734375, 120.05859375, 140.9765625, 50.888671875, -8.349609375, 27.0703125 ]
2.8
84
0
84
0
[ -1.0028409957885742, 119.50779724121094, 138.06640625, 50.2501335144043, -7.640494346618652, 27.14209747314453 ]
[ -0.087890625, 119.443359375, 140.361328125, 50.80078125, -8.173828125, 27.158203125 ]
2.833333
85
0
85
0
[ -1.602555751800537, 119.11548614501953, 137.73240661621094, 50.19441223144531, -7.505396842956543, 27.26892852783203 ]
[ -0.52734375, 119.00390625, 139.921875, 50.712890625, -7.91015625, 27.158203125 ]
2.866667
86
0
86
0
[ -1.6926045417785645, 119.58396911621094, 137.89305114746094, 50.05854797363281, -7.513364315032959, 27.351974487304688 ]
[ -1.142578125, 118.564453125, 139.39453125, 50.625, -7.822265625, 27.158203125 ]
2.9
87
0
87
0
[ -1.7905364036560059, 119.98336029052734, 138.1002197265625, 50.1928596496582, -7.550536632537842, 27.374164581298828 ]
[ -1.58203125, 118.388671875, 139.306640625, 50.44921875, -7.734375, 27.333984375 ]
2.933333
88
0
88
0
[ -2.2318201065063477, 119.375, 137.69418334960938, 50.13258361816406, -7.090786933898926, 27.496173858642578 ]
[ -1.7578125, 118.388671875, 139.39453125, 50.44921875, -7.734375, 27.333984375 ]
2.966667
89
0
89
0
[ -2.974658966064453, 118.4674301147461, 137.19265747070312, 50.09171676635742, -6.773634910583496, 27.56165885925293 ]
[ -1.93359375, 118.4765625, 139.39453125, 50.44921875, -7.470703125, 27.421875 ]
3
90
0
90
0
[ -3.3199877738952637, 118.43168640136719, 137.00332641601562, 50.00616455078125, -6.914130687713623, 27.660358428955078 ]
[ -2.28515625, 118.125, 139.39453125, 50.44921875, -7.119140625, 27.59765625 ]
3.033333
91
0
91
0
[ -3.4528355598449707, 118.5079116821289, 136.9370880126953, 50.02467346191406, -6.6356353759765625, 27.557750701904297 ]
[ -2.724609375, 117.861328125, 139.130859375, 50.44921875, -6.943359375, 27.685546875 ]
3.066667
92
0
92
0
[ -3.685464382171631, 119.03694152832031, 136.9462432861328, 50.22052764892578, -6.347314357757568, 27.56228256225586 ]
[ -2.900390625, 117.7734375, 139.04296875, 50.361328125, -6.85546875, 27.59765625 ]
3.1
93
0
93
0
[ -4.221006393432617, 118.85102081298828, 136.4945831298828, 50.521785736083984, -6.144506931304932, 27.77991485595703 ]
[ -3.251953125, 117.7734375, 139.04296875, 50.44921875, -6.6796875, 27.59765625 ]
3.133333
94
0
94
0
[ -4.263036727905273, 119.22364807128906, 136.7047119140625, 50.20478057861328, -6.136600971221924, 27.816936492919922 ]
[ -3.779296875, 117.7734375, 138.955078125, 50.44921875, -6.416015625, 27.59765625 ]
3.166667
95
0
95
0
[ -4.243126392364502, 119.3619384765625, 136.33865356445312, 50.538082122802734, -5.379195213317871, 27.944259643554688 ]
[ -4.21875, 117.7734375, 138.955078125, 50.44921875, -6.416015625, 27.685546875 ]
3.2
96
0
96
0
[ -4.2934417724609375, 119.98418426513672, 136.41986083984375, 50.56752395629883, -5.332979679107666, 28.052963256835938 ]
[ -4.39453125, 117.7734375, 138.427734375, 50.537109375, -5.9765625, 27.861328125 ]
3.233333
97
0
97
0
[ -4.699293613433838, 121.0099868774414, 136.357421875, 51.1351203918457, -5.157077789306641, 27.91219711303711 ]
[ -4.482421875, 117.7734375, 138.33984375, 50.537109375, -5.625, 28.037109375 ]
3.266667
98
0
98
0
[ -4.46005392074585, 121.32029724121094, 136.45957946777344, 51.155433654785156, -4.941780090332031, 28.08517837524414 ]
[ -4.482421875, 118.037109375, 138.1640625, 50.80078125, -5.537109375, 27.94921875 ]
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": "so101",
    "total_episodes": 1,
    "total_frames": 1188,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.desktop": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
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        "frame_index": {
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            "names": null
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        "episode_index": {
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            "names": null
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        "index": {
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            "shape": [
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

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BibTeX:

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