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observation.state
sequence
observation.ee_pos
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observation.d_pos
array 2D
timestamp
float32
0
17.5
frame_index
int64
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524
episode_index
int64
0
24
index
int64
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10.1k
task_index
int64
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[ -22.765003204345703, 48.808677673339844, 29.904197692871094, 66.9008560180664, 31.3548526763916, 43.950218200683594 ]
[ -22.8515625, 48.69140625, 33.310546875, 66.796875, 27.94921875, 43.154296875 ]
[ 0.18839530646800995, -0.079393669962883, 0.07082464545965195, 6.844172954559326 ]
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2.7
81
0
81
0
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[ 0.1884738951921463, -0.07942678779363632, 0.06956993043422699, 6.78511905670166 ]
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2.733333
82
0
82
0
[ -22.762680053710938, 48.53887939453125, 29.743553161621094, 66.90082550048828, 31.43268394470215, 43.95949935913086 ]
[ -22.763671875, 48.33984375, 33.310546875, 66.796875, 27.94921875, 43.06640625 ]
[ 0.1885955035686493, -0.07913757860660553, 0.06956993043422699, 6.873008728027344 ]
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2.766667
83
0
83
0
[ -22.704975128173828, 48.14775466918945, 29.656265258789062, 66.75863647460938, 31.455678939819336, 43.93926239013672 ]
[ -22.763671875, 48.251953125, 33.310546875, 66.796875, 27.94921875, 43.06640625 ]
[ 0.18861405551433563, -0.07914536446332932, 0.06925617903470993, 6.858424186706543 ]
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2.8
84
0
84
0
[ -22.718059539794922, 48.0537109375, 29.731468200683594, 66.62027740478516, 31.47922706604004, 43.92182159423828 ]
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2.833333
85
0
85
0
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2.866667
86
0
86
0
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2.9
87
0
87
0
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2.933333
88
0
88
0
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2.966667
89
0
89
0
[ -22.54468536376953, 47.0092887878418, 29.541297912597656, 66.21958923339844, 31.551158905029297, 43.830848693847656 ]
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[ 0.18935337662696838, -0.07877324521541595, 0.06561211496591568, 6.920068264007568 ]
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3
90
0
90
0
[ -22.53786849975586, 46.96396255493164, 29.52849578857422, 66.23635864257812, 31.573020935058594, 43.83060073852539 ]
[ -22.5, 46.58203125, 33.310546875, 66.4453125, 27.94921875, 43.154296875 ]
[ 0.18955543637275696, -0.07851643860340118, 0.06340944021940231, 6.911752223968506 ]
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3.033333
91
0
91
0
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3.066667
92
0
92
0
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3.1
93
0
93
0
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3.133333
94
0
94
0
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[ -22.5, 46.0546875, 33.310546875, 66.357421875, 27.94921875, 43.154296875 ]
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3.166667
95
0
95
0
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3.2
96
0
96
0
[ -22.327144622802734, 45.42930221557617, 29.266891479492188, 65.81741333007812, 31.630836486816406, 43.65180969238281 ]
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3.233333
97
0
97
0
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[ -22.412109375, 44.912109375, 33.310546875, 66.09375, 28.037109375, 43.06640625 ]
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3.266667
98
0
98
0
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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": 25,
    "total_frames": 10133,
    "total_tasks": 1,
    "total_videos": 50,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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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"
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            "names": null
        }
    }
}

Citation

BibTeX:

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