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observation.state
sequence
observation.ee_pos
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observation.d_pos
sequence
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float32
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26.2
frame_index
int64
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10.3k
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[ 16.25318717956543, 82.37218475341797, 86.1556167602539, 58.3051643371582, -21.614755630493164, 44.52736282348633 ]
[ 15.8203125, 82.6171875, 86.8359375, 58.798828125, -18.28125, 44.47265625 ]
[ 0.12726864218711853, 0.03606213256716728, 0.06805561482906342, -2.7189483642578125 ]
[ 0.033799998462200165, 0.12309999763965607, 6.687300205230713 ]
2.766667
83
0
83
0
[ 16.29437828063965, 82.36476135253906, 86.63522338867188, 57.88579177856445, -21.72933578491211, 44.513221740722656 ]
[ 15.908203125, 82.353515625, 86.8359375, 58.623046875, -18.28125, 44.47265625 ]
[ 0.1274329423904419, 0.03631995990872383, 0.06747690588235855, -2.6264488697052 ]
[ 0.033799998462200165, 0.12309999763965607, 6.687300205230713 ]
2.8
84
0
84
0
[ 16.237436294555664, 82.50790405273438, 86.54723358154297, 58.03245544433594, -21.60919761657715, 44.53432846069336 ]
[ 15.99609375, 82.08984375, 86.923828125, 58.271484375, -18.369140625, 44.47265625 ]
[ 0.1276235580444336, 0.03658604621887207, 0.06676893681287766, -2.6274938583374023 ]
[ 0.033799998462200165, 0.12309999763965607, 6.687300205230713 ]
2.833333
85
0
85
0
[ 16.25973892211914, 82.21778106689453, 87.15802001953125, 57.147491455078125, -21.614713668823242, 44.514808654785156 ]
[ 16.171875, 82.08984375, 87.626953125, 58.095703125, -18.28125, 44.47265625 ]
[ 0.12655507028102875, 0.036700289696455, 0.06553856283426285, -2.3360366821289062 ]
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2.866667
86
0
86
0
[ 16.325326919555664, 82.08460235595703, 86.86161804199219, 57.257667541503906, -21.69536781311035, 44.497406005859375 ]
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[ 0.12640038132667542, 0.0368657261133194, 0.06572621315717697, -2.248145580291748 ]
[ 0.033799998462200165, 0.12309999763965607, 6.687300205230713 ]
2.9
87
0
87
0
[ 16.451187133789062, 81.79814147949219, 87.23020935058594, 56.73577117919922, -21.731931686401367, 44.468448638916016 ]
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2.933333
88
0
88
0
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[ 16.34765625, 82.001953125, 88.154296875, 57.12890625, -18.369140625, 44.47265625 ]
[ 0.1265312135219574, 0.03711458668112755, 0.06455767899751663, -2.2668089866638184 ]
[ 0.033799998462200165, 0.12309999763965607, 6.687300205230713 ]
2.966667
89
0
89
0
[ 16.522775650024414, 81.51851654052734, 87.20050811767578, 56.6351203918457, -21.772157669067383, 44.477813720703125 ]
[ 16.435546875, 81.38671875, 88.154296875, 56.953125, -18.369140625, 44.47265625 ]
[ 0.1267208307981491, 0.03738141432404518, 0.06316957622766495, -2.1568617820739746 ]
[ 0.033799998462200165, 0.12309999763965607, 6.687300205230713 ]
3
90
0
90
0
[ 16.508647918701172, 81.06722259521484, 87.46763610839844, 55.84864807128906, -21.76542091369629, 44.44263458251953 ]
[ 16.435546875, 81.38671875, 88.154296875, 56.865234375, -18.369140625, 44.47265625 ]
[ 0.12680527567863464, 0.037406325340270996, 0.06318391114473343, -2.161187171936035 ]
[ 0.033799998462200165, 0.12309999763965607, 6.687300205230713 ]
3.033333
91
0
91
0
[ 16.46689796447754, 81.29298400878906, 87.7470474243164, 55.91318893432617, -21.825605392456055, 44.45319747924805 ]
[ 16.5234375, 81.38671875, 88.154296875, 56.689453125, -18.28125, 44.47265625 ]
[ 0.12691649794578552, 0.037650857120752335, 0.06321299076080322, -1.9932173490524292 ]
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3.066667
92
0
92
0
[ 16.57149314880371, 81.13841247558594, 88.0335464477539, 55.479000091552734, -21.766733169555664, 44.4130744934082 ]
[ 16.5234375, 80.947265625, 88.154296875, 56.6015625, -18.369140625, 44.47265625 ]
[ 0.12704803049564362, 0.03768987953662872, 0.062211498618125916, -2.0646891593933105 ]
[ 0.033799998462200165, 0.12309999763965607, 6.687300205230713 ]
3.1
93
0
93
0
[ 16.752498626708984, 80.58627319335938, 87.86360931396484, 55.27555847167969, -22.02264404296875, 44.405120849609375 ]
[ 16.435546875, 80.859375, 88.330078125, 56.162109375, -18.369140625, 44.47265625 ]
[ 0.1272452026605606, 0.037536099553108215, 0.06177011877298355, -2.1611874103546143 ]
[ 0.033799998462200165, 0.12309999763965607, 6.687300205230713 ]
3.133333
94
0
94
0
[ 16.55643081665039, 81.00164794921875, 88.48382568359375, 54.83643341064453, -21.74158477783203, 44.40898513793945 ]
[ 16.611328125, 80.859375, 89.12109375, 55.810546875, -18.6328125, 44.47265625 ]
[ 0.12614670395851135, 0.03763312101364136, 0.06044156476855278, -2.230405569076538 ]
[ 0.033799998462200165, 0.12309999763965607, 6.687300205230713 ]
3.166667
95
0
95
0
[ 16.70151138305664, 80.6673583984375, 88.85550689697266, 54.371280670166016, -21.775094985961914, 44.382537841796875 ]
[ 16.611328125, 80.595703125, 89.208984375, 55.72265625, -18.6328125, 44.47265625 ]
[ 0.12609967589378357, 0.03761909529566765, 0.05969672277569771, -2.2180464267730713 ]
[ 0.033799998462200165, 0.12309999763965607, 6.687300205230713 ]
3.2
96
0
96
0
[ 16.72983169555664, 80.87372589111328, 88.77508544921875, 54.51305389404297, -21.730932235717773, 44.38418197631836 ]
[ 16.611328125, 80.5078125, 89.296875, 55.1953125, -18.6328125, 44.47265625 ]
[ 0.1264626383781433, 0.03772737458348274, 0.05942370742559433, -2.234611988067627 ]
[ 0.033799998462200165, 0.12309999763965607, 6.687300205230713 ]
3.233333
97
0
97
0
[ 16.626724243164062, 80.927001953125, 89.23065185546875, 54.02335739135742, -21.75253677368164, 44.373695373535156 ]
[ 16.69921875, 80.5078125, 89.384765625, 54.755859375, -18.720703125, 44.47265625 ]
[ 0.1266775280237198, 0.03800319507718086, 0.059341561049222946, -2.2527928352355957 ]
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3.266667
98
0
98
0
[ 16.7477970123291, 80.37141418457031, 89.17774963378906, 53.735107421875, -21.92172622680664, 44.37749099731445 ]
[ 16.69921875, 80.5078125, 89.384765625, 54.580078125, -18.6328125, 44.47265625 ]
[ 0.12684611976146698, 0.03805377334356308, 0.05937063694000244, -2.1728625297546387 ]
[ 0.033799998462200165, 0.12309999763965607, 6.687300205230713 ]
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": "koch",
    "total_episodes": 22,
    "total_frames": 9431,
    "total_tasks": 1,
    "total_videos": 44,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:22"
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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"
            ]
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        "observation.state": {
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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
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                "main_wrist_roll",
                "main_gripper"
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        "observation.ee_pos": {
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        "observation.images.front": {
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            "info": {
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        "timestamp": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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