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sequence
observation.state
sequence
timestamp
float32
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16.2
frame_index
int64
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487
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[ 3.780299425125122, 199.52786254882812, 172.50228881835938, 74.26093292236328, 2.166921377182007, -0.20956802368164062 ]
[ 3.33984375, 198.10546875, 175.341796875, 73.65234375, 1.58203125, -0.14114326238632202 ]
2.166667
65
0
65
0
[ 3.8154642581939697, 199.73841857910156, 172.75173950195312, 74.20822143554688, 2.136080026626587, -0.2753019332885742 ]
[ 3.33984375, 198.10546875, 175.341796875, 73.65234375, 1.58203125, -0.14114326238632202 ]
2.2
66
0
66
0
[ 3.8367764949798584, 199.84283447265625, 172.86544799804688, 73.71564483642578, 1.7915375232696533, -0.24346923828125 ]
[ 3.33984375, 198.10546875, 175.341796875, 73.65234375, 1.669921875, -0.14114326238632202 ]
2.233333
67
0
67
0
[ 3.8580291271209717, 200.31817626953125, 173.02012634277344, 73.5791015625, 1.7452361583709717, -0.1722707748413086 ]
[ 3.515625, 198.10546875, 175.341796875, 73.65234375, 1.669921875, -0.14114326238632202 ]
2.266667
68
0
68
0
[ 3.835491895675659, 200.17066955566406, 172.882080078125, 73.82781982421875, 1.705946922302246, -0.21562576293945312 ]
[ 3.515625, 198.10546875, 175.341796875, 73.564453125, 1.669921875, -0.14114326238632202 ]
2.3
69
0
69
0
[ 3.1784024238586426, 201.177734375, 173.48880004882812, 71.90438842773438, 1.1116745471954346, 1.5159311294555664 ]
[ 3.515625, 198.10546875, 175.341796875, 73.564453125, 1.669921875, -0.14114326238632202 ]
2.333333
70
0
70
0
[ 3.390453577041626, 201.50372314453125, 173.5654296875, 72.4472427368164, 1.1266453266143799, 0.9875402450561523 ]
[ 3.515625, 198.10546875, 175.341796875, 73.564453125, 1.669921875, -0.14114326238632202 ]
2.366667
71
0
71
0
[ 2.646019697189331, 201.7891845703125, 173.9280548095703, 70.5427474975586, 0.677290678024292, 3.942934989929199 ]
[ 3.427734375, 198.10546875, 175.341796875, 73.4765625, 1.669921875, -0.14114326238632202 ]
2.4
72
0
72
0
[ 2.5933895111083984, 201.75596618652344, 173.43643188476562, 70.03968811035156, 0.5213053226470947, 5.3433074951171875 ]
[ 3.33984375, 198.10546875, 175.341796875, 73.125, 1.318359375, 0.49400144815444946 ]
2.433333
73
0
73
0
[ 2.2867705821990967, 202.0714111328125, 173.384033203125, 69.36058044433594, 0.32610654830932617, 6.760122776031494 ]
[ 3.251953125, 198.10546875, 175.4296875, 72.0703125, 0.966796875, 2.1171488761901855 ]
2.466667
74
0
74
0
[ 1.910905122756958, 202.44651794433594, 173.22288513183594, 67.5110092163086, -0.5176855325698853, 10.161190032958984 ]
[ 2.63671875, 198.10546875, 175.4296875, 71.3671875, 0.703125, 3.669724702835083 ]
2.5
75
0
75
0
[ 1.1739797592163086, 202.09237670898438, 173.3050537109375, 67.05220031738281, -0.5219855308532715, 11.739195823669434 ]
[ 2.548828125, 198.10546875, 175.4296875, 70.751953125, 0.439453125, 5.222301006317139 ]
2.533333
76
0
76
0
[ 0.0891350507736206, 201.4031219482422, 171.85496520996094, 65.11162567138672, -1.068561315536499, 16.91544532775879 ]
[ 2.373046875, 198.193359375, 175.4296875, 69.873046875, 0.087890625, 6.986591339111328 ]
2.566667
77
0
77
0
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[ 1.494140625, 198.193359375, 175.4296875, 68.5546875, -0.263671875, 9.527170181274414 ]
2.6
78
0
78
0
[ -2.0930471420288086, 197.60400390625, 167.3079071044922, 61.943016052246094, -2.0599310398101807, 26.515697479248047 ]
[ 0.966796875, 198.193359375, 175.341796875, 67.412109375, -0.703125, 12.208891868591309 ]
2.633333
79
0
79
0
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2.666667
80
0
80
0
[ -3.2218055725097656, 195.602294921875, 166.45770263671875, 60.255287170410156, -2.1803858280181885, 28.37591552734375 ]
[ -0.52734375, 197.666015625, 174.55078125, 65.0390625, -1.40625, 18.278051376342773 ]
2.7
81
0
81
0
[ -5.236534118652344, 190.64404296875, 162.514404296875, 59.05242919921875, -2.323556900024414, 30.89699935913086 ]
[ -1.40625, 197.05078125, 173.408203125, 63.984375, -1.58203125, 21.736061096191406 ]
2.733333
82
0
82
0
[ -6.696084976196289, 186.07154846191406, 160.29661560058594, 58.73651123046875, -2.469856023788452, 32.220184326171875 ]
[ -2.8125, 195.64453125, 170.859375, 61.787109375, -2.021484375, 26.676076889038086 ]
2.766667
83
0
83
0
[ -6.938807964324951, 183.85829162597656, 158.65928649902344, 58.160560607910156, -2.5846431255340576, 32.499839782714844 ]
[ -2.900390625, 194.765625, 169.8046875, 61.171875, -2.197265625, 28.016937255859375 ]
2.8
84
0
84
0
[ -8.68874454498291, 178.75552368164062, 155.1101531982422, 57.35762023925781, -2.740205764770508, 33.465049743652344 ]
[ -5.09765625, 191.162109375, 167.255859375, 60.380859375, -2.4609375, 30.06351661682129 ]
2.833333
85
0
85
0
[ -9.538599967956543, 174.0464630126953, 151.8150634765625, 56.84648895263672, -2.673490047454834, 33.83714294433594 ]
[ -6.50390625, 187.294921875, 164.70703125, 59.765625, -2.4609375, 31.333805084228516 ]
2.866667
86
0
86
0
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[ -6.943359375, 182.98828125, 161.982421875, 58.974609375, -2.4609375, 32.321807861328125 ]
2.9
87
0
87
0
[ -10.300097465515137, 161.92640686035156, 144.51699829101562, 56.14044952392578, -2.5158557891845703, 35.66004943847656 ]
[ -8.26171875, 180, 159.78515625, 58.447265625, -2.548828125, 32.88637924194336 ]
2.933333
88
0
88
0
[ -10.794341087341309, 161.23426818847656, 143.72824096679688, 56.606468200683594, -2.5641188621520996, 35.63018798828125 ]
[ -8.876953125, 176.8359375, 157.587890625, 58.18359375, -2.63671875, 33.30980682373047 ]
2.966667
89
0
89
0
[ -12.278511047363281, 149.17787170410156, 135.97708129882812, 56.30820083618164, -2.497203826904297, 36.41492462158203 ]
[ -8.701171875, 175.166015625, 156.4453125, 58.0078125, -2.63671875, 34.015525817871094 ]
3
90
0
90
0
[ -12.590415954589844, 146.31503295898438, 133.98117065429688, 56.113014221191406, -2.09348201751709, 36.65472412109375 ]
[ -10.37109375, 169.716796875, 152.841796875, 57.919921875, -2.63671875, 34.93295669555664 ]
3.033333
91
0
91
0
[ -12.587723731994629, 143.05149841308594, 131.60572814941406, 56.50968933105469, -2.3211917877197266, 37.29983139038086 ]
[ -11.689453125, 160.6640625, 146.42578125, 57.744140625, -2.63671875, 35.779815673828125 ]
3.066667
92
0
92
0
[ -13.082797050476074, 135.12606811523438, 126.004638671875, 56.89366149902344, -2.1130971908569336, 37.54801940917969 ]
[ -11.865234375, 153.544921875, 142.119140625, 57.392578125, -2.548828125, 36.2032470703125 ]
3.1
93
0
93
0
[ -12.731952667236328, 131.75576782226562, 123.73754119873047, 57.25206756591797, -2.1475818157196045, 38.30099105834961 ]
[ -12.3046875, 148.271484375, 139.04296875, 57.3046875, -2.548828125, 36.69724655151367 ]
3.133333
94
0
94
0
[ -13.430827140808105, 130.22706604003906, 122.20388793945312, 57.65208053588867, -2.1729142665863037, 37.92315673828125 ]
[ -12.568359375, 142.20703125, 135, 57.392578125, -2.373046875, 37.191246032714844 ]
3.166667
95
0
95
0
[ -13.468978881835938, 129.40142822265625, 122.9312744140625, 57.26700210571289, -1.5987050533294678, 37.99017333984375 ]
[ -13.0078125, 134.82421875, 130.166015625, 57.3046875, -2.28515625, 37.89696502685547 ]
3.2
96
0
96
0
[ -13.051624298095703, 127.5465316772461, 121.17230224609375, 57.809661865234375, -1.8774850368499756, 37.33226776123047 ]
[ -12.744140625, 132.451171875, 128.583984375, 57.392578125, -2.28515625, 37.96753692626953 ]
3.233333
97
0
97
0
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[ -12.83203125, 130.60546875, 127.6171875, 57.48046875, -2.109375, 37.89696502685547 ]
3.266667
98
0
98
0
[ -13.857007026672363, 122.99778747558594, 117.33325958251953, 58.39292907714844, -2.0016205310821533, 37.68633270263672 ]
[ -13.359375, 127.705078125, 125.859375, 57.919921875, -1.93359375, 37.544105529785156 ]
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": 10,
    "total_frames": 3052,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
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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"
            ]
        },
        "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.handeye": {
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        "observation.images.side": {
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        "observation.images.topdown": {
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        }
    }
}

Citation

BibTeX:

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