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sequence
observation.state
sequence
timestamp
float32
0
29.8
frame_index
int64
0
894
episode_index
int64
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2
index
int64
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2.34k
task_index
int64
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[ 2.4182653427124023, 188.29315185546875, 167.79522705078125, 76.20616912841797, -1.3071269989013672, 0.06446075439453125 ]
[ 2.63671875, 188.7890625, 169.716796875, 77.34375, -0.87890625, 0.11312218010425568 ]
2.133333
64
0
64
0
[ 2.498135566711426, 188.10589599609375, 167.863037109375, 75.79081726074219, -1.3366336822509766, 0.06764793395996094 ]
[ 2.63671875, 188.7890625, 169.716796875, 77.34375, -0.87890625, 0.11312218010425568 ]
2.166667
65
0
65
0
[ 2.4908556938171387, 188.0771026611328, 167.84439086914062, 75.74903106689453, -1.3366260528564453, 0.09977340698242188 ]
[ 2.63671875, 188.7890625, 169.716796875, 76.9921875, -0.87890625, 0.11312218010425568 ]
2.2
66
0
66
0
[ 2.586914539337158, 187.52328491210938, 167.8306884765625, 74.86203002929688, -1.441183090209961, 0.1336803436279297 ]
[ 2.63671875, 188.61328125, 169.716796875, 76.640625, -0.87890625, 0.11312218010425568 ]
2.233333
67
0
67
0
[ 2.6605772972106934, 186.73089599609375, 167.68612670898438, 73.94828033447266, -1.63055419921875, 0.06884193420410156 ]
[ 2.63671875, 188.4375, 169.716796875, 76.46484375, -0.87890625, 0.11312218010425568 ]
2.266667
68
0
68
0
[ 2.7241101264953613, 186.8002471923828, 167.657470703125, 73.99037170410156, -1.533487319946289, 0.10337638854980469 ]
[ 2.63671875, 188.173828125, 169.716796875, 75.9375, -0.966796875, 0.11312218010425568 ]
2.3
69
0
69
0
[ 2.8365726470947266, 185.9837188720703, 167.31431579589844, 73.29985809326172, -1.6497726440429688, 0.07176017761230469 ]
[ 2.63671875, 187.646484375, 169.716796875, 75.234375, -1.142578125, 0.11312218010425568 ]
2.333333
70
0
70
0
[ 2.893901824951172, 185.15536499023438, 166.8624267578125, 72.60225677490234, -1.685556411743164, 0.1268177032470703 ]
[ 2.63671875, 187.3828125, 169.716796875, 74.970703125, -1.142578125, 0.11312218010425568 ]
2.366667
71
0
71
0
[ 2.9022250175476074, 184.6087188720703, 166.48580932617188, 72.29931640625, -1.6328392028808594, 0.2186737060546875 ]
[ 2.63671875, 186.85546875, 169.716796875, 74.35546875, -1.23046875, 0.11312218010425568 ]
2.4
72
0
72
0
[ 2.987710475921631, 183.885498046875, 166.05807495117188, 71.88909149169922, -1.6216316223144531, 0.2307720184326172 ]
[ 2.63671875, 186.15234375, 169.541015625, 73.740234375, -1.40625, 0.11312218010425568 ]
2.433333
73
0
73
0
[ 3.059220790863037, 182.94920349121094, 165.40855407714844, 71.31262969970703, -1.6673641204833984, 0.267547607421875 ]
[ 2.63671875, 185.537109375, 169.27734375, 73.30078125, -1.40625, 0.11312218010425568 ]
2.466667
74
0
74
0
[ 3.0756678581237793, 182.24562072753906, 164.84402465820312, 70.83997344970703, -1.6671524047851562, 0.3772602081298828 ]
[ 2.63671875, 184.921875, 168.92578125, 72.861328125, -1.40625, 0.11312218010425568 ]
2.5
75
0
75
0
[ 3.245476245880127, 180.89520263671875, 163.98118591308594, 70.27354431152344, -1.6496467590332031, 0.32776641845703125 ]
[ 2.63671875, 184.21875, 168.3984375, 72.333984375, -1.40625, 0.11312218010425568 ]
2.533333
76
0
76
0
[ 3.315340995788574, 180.0497283935547, 163.32275390625, 69.80778503417969, -1.5688419342041016, 0.4383411407470703 ]
[ 2.724609375, 183.33984375, 167.87109375, 71.806640625, -1.40625, 0.11312218010425568 ]
2.566667
77
0
77
0
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[ 2.8125, 182.4609375, 167.255859375, 71.3671875, -1.40625, 0.11312218010425568 ]
2.6
78
0
78
0
[ 3.45712947845459, 178.23081970214844, 161.95486450195312, 69.05581665039062, -1.3974933624267578, 0.5499076843261719 ]
[ 2.900390625, 181.40625, 166.46484375, 70.751953125, -1.40625, 0.11312218010425568 ]
2.633333
79
0
79
0
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[ 3.076171875, 180.615234375, 165.9375, 70.400390625, -1.40625, 0.11312218010425568 ]
2.666667
80
0
80
0
[ 3.5140132904052734, 176.5544891357422, 160.64022827148438, 68.46794891357422, -1.3831615447998047, 0.7625522613525391 ]
[ 3.1640625, 179.6484375, 165.322265625, 69.9609375, -1.40625, 0.11312218010425568 ]
2.7
81
0
81
0
[ 3.5988073348999023, 175.59629821777344, 159.90945434570312, 68.16180419921875, -1.3432159423828125, 0.7340869903564453 ]
[ 3.33984375, 178.59375, 164.53125, 69.521484375, -1.40625, 0.11312218010425568 ]
2.733333
82
0
82
0
[ 3.791107177734375, 174.52073669433594, 159.13275146484375, 67.69020080566406, -1.061767578125, 0.8542060852050781 ]
[ 3.515625, 177.802734375, 163.916015625, 69.345703125, -1.40625, 0.11312218010425568 ]
2.766667
83
0
83
0
[ 3.7647666931152344, 173.24855041503906, 158.16366577148438, 67.57054138183594, -1.1004714965820312, 0.7655525207519531 ]
[ 3.515625, 176.923828125, 163.212890625, 68.994140625, -1.40625, 0.11312218010425568 ]
2.8
84
0
84
0
[ 3.987717866897583, 172.14971923828125, 157.34280395507812, 67.02782440185547, -0.8782787322998047, 1.0239849090576172 ]
[ 3.515625, 175.95703125, 162.509765625, 68.5546875, -1.40625, 0.22624436020851135 ]
2.833333
85
0
85
0
[ 3.9839236736297607, 171.17236328125, 156.5367889404297, 66.86245727539062, -0.6999034881591797, 1.0443668365478516 ]
[ 3.515625, 174.90234375, 161.71875, 68.37890625, -1.318359375, 0.33936652541160583 ]
2.866667
86
0
86
0
[ 4.097750186920166, 170.29159545898438, 155.81455993652344, 66.6805648803711, -0.8284530639648438, 1.1402130126953125 ]
[ 3.515625, 173.583984375, 160.751953125, 68.02734375, -1.142578125, 0.5656108856201172 ]
2.9
87
0
87
0
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[ 3.515625, 172.353515625, 159.9609375, 67.67578125, -0.966796875, 0.5656108856201172 ]
2.933333
88
0
88
0
[ 4.130766868591309, 168.41128540039062, 154.32159423828125, 66.48481750488281, -0.5587539672851562, 1.3073654174804688 ]
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2.966667
89
0
89
0
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[ 3.603515625, 170.419921875, 158.37890625, 67.236328125, -0.791015625, 0.6787330508232117 ]
3
90
0
90
0
[ 4.259641170501709, 166.51980590820312, 152.7376708984375, 66.29132080078125, -0.34496116638183594, 1.4593944549560547 ]
[ 3.779296875, 169.453125, 157.587890625, 67.060546875, -0.791015625, 0.7918552756309509 ]
3.033333
91
0
91
0
[ 4.241524696350098, 165.45321655273438, 151.89364624023438, 66.07040405273438, -0.12288856506347656, 1.6000385284423828 ]
[ 3.955078125, 168.75, 157.1484375, 66.97265625, -0.791015625, 1.0180995464324951 ]
3.066667
92
0
92
0
[ 4.471344947814941, 165.0592803955078, 151.3960418701172, 66.12522888183594, -0.3083648681640625, 1.578744888305664 ]
[ 4.21875, 167.783203125, 156.357421875, 66.884765625, -0.791015625, 1.1312217712402344 ]
3.1
93
0
93
0
[ 4.430657863616943, 164.01248168945312, 150.53610229492188, 66.17807006835938, -0.18404388427734375, 1.7410564422607422 ]
[ 4.306640625, 166.728515625, 155.478515625, 66.796875, -0.52734375, 1.1312217712402344 ]
3.133333
94
0
94
0
[ 4.531381130218506, 163.29244995117188, 149.85426330566406, 66.07952117919922, -0.13280677795410156, 1.7581253051757812 ]
[ 4.39453125, 166.025390625, 154.775390625, 66.796875, -0.52734375, 1.1312217712402344 ]
3.166667
95
0
95
0
[ 4.548008918762207, 162.12954711914062, 148.87939453125, 66.26404571533203, 0.0620880126953125, 1.8930034637451172 ]
[ 4.39453125, 165.234375, 154.072265625, 66.796875, -0.52734375, 1.3574661016464233 ]
3.2
96
0
96
0
[ 4.3929266929626465, 161.35906982421875, 148.2191162109375, 66.40605163574219, 0.13274574279785156, 2.1862258911132812 ]
[ 4.39453125, 164.267578125, 153.193359375, 66.796875, -0.439453125, 1.3574661016464233 ]
3.233333
97
0
97
0
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[ 4.39453125, 163.4765625, 152.40234375, 66.796875, -0.17578125, 1.470588207244873 ]
3.266667
98
0
98
0
[ 4.772581100463867, 159.8307647705078, 146.81796264648438, 66.51042938232422, 0.21020126342773438, 2.394571304321289 ]
[ 4.39453125, 162.421875, 151.435546875, 66.796875, -0.087890625, 1.6968326568603516 ]
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": 3,
    "total_frames": 2345,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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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            "shape": [
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            "names": [
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                "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"
            ]
        },
        "observation.images.tabletop": {
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            "names": [
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            "info": {
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        "observation.images.gripper": {
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        "timestamp": {
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        "frame_index": {
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    }
}

Citation

BibTeX:

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