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sequence
observation.state
sequence
timestamp
float32
0
29.3
frame_index
int64
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880
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int64
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[ 10.783252716064453, 119.33433532714844, 106.98445129394531, 73.38451385498047, 0.2581547498703003, 7.076674461364746 ]
[ 10.1953125, 120.146484375, 111.4453125, 72.158203125, 0, 5.049668788909912 ]
2.166667
65
0
65
0
[ 11.111492156982422, 117.80209350585938, 105.71768188476562, 74.30485534667969, 0.4036620855331421, 10.452808380126953 ]
[ 10.1953125, 119.8828125, 111.181640625, 72.333984375, 0, 5.54635763168335 ]
2.2
66
0
66
0
[ 11.352649688720703, 117.58940124511719, 105.59696960449219, 74.38142395019531, 0.4224015474319458, 10.797802925109863 ]
[ 10.01953125, 119.35546875, 110.390625, 72.7734375, 0, 5.960264682769775 ]
2.233333
67
0
67
0
[ 11.484243392944336, 116.68142700195312, 104.96891784667969, 74.71548461914062, 0.39898502826690674, 12.275218963623047 ]
[ 10.1953125, 118.65234375, 109.51171875, 73.388671875, 0, 6.870861053466797 ]
2.266667
68
0
68
0
[ 11.53445053100586, 116.26025390625, 104.46417236328125, 74.75331115722656, 0.41818201541900635, 12.797637939453125 ]
[ 10.634765625, 117.861328125, 108.80859375, 73.65234375, 0, 8.526490211486816 ]
2.3
69
0
69
0
[ 11.703350067138672, 115.35409545898438, 103.98553466796875, 75.08551025390625, 0.4378606081008911, 14.730789184570312 ]
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2.333333
70
0
70
0
[ 11.845975875854492, 115.17203521728516, 104.18617248535156, 74.75032043457031, 0.4227834939956665, 15.03818130493164 ]
[ 11.513671875, 116.19140625, 107.666015625, 74.267578125, 0, 11.175497055053711 ]
2.366667
71
0
71
0
[ 11.846656799316406, 115.06959533691406, 104.1487808227539, 74.77838134765625, 0.33949244022369385, 16.895675659179688 ]
[ 11.513671875, 115.576171875, 107.2265625, 74.443359375, 0, 12.251655578613281 ]
2.4
72
0
72
0
[ 11.838788986206055, 115.0898666381836, 103.94766235351562, 74.87388610839844, 0.42882978916168213, 16.122432708740234 ]
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2.433333
73
0
73
0
[ 11.97897720336914, 114.37089538574219, 103.88081359863281, 74.82020568847656, 0.3661290407180786, 18.316469192504883 ]
[ 11.25, 114.9609375, 106.962890625, 74.619140625, 0, 14.48675537109375 ]
2.466667
74
0
74
0
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2.5
75
0
75
0
[ 12.205829620361328, 113.95376586914062, 103.62702941894531, 74.82605743408203, 0.2728177309036255, 19.859779357910156 ]
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2.533333
76
0
76
0
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2.566667
77
0
77
0
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[ 12.041015625, 113.90625, 106.875, 74.619140625, 0, 18.543046951293945 ]
2.6
78
0
78
0
[ 12.574031829833984, 112.8099136352539, 103.64091491699219, 74.6897964477539, 0.16082823276519775, 24.53194236755371 ]
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2.633333
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0
79
0
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2.666667
80
0
80
0
[ 12.759265899658203, 112.24284362792969, 103.84392547607422, 74.3922119140625, -0.05414402484893799, 27.394573211669922 ]
[ 12.3046875, 112.67578125, 106.875, 74.619140625, 0, 21.771522521972656 ]
2.7
81
0
81
0
[ 12.73832893371582, 111.89582824707031, 103.98921203613281, 74.5103759765625, -0.07533919811248779, 28.85854148864746 ]
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2.733333
82
0
82
0
[ 12.789955139160156, 111.87745666503906, 104.35004425048828, 74.18736267089844, -0.17933082580566406, 30.738224029541016 ]
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2.766667
83
0
83
0
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[ 12.216796875, 111.62109375, 106.875, 74.619140625, 0, 26.490066528320312 ]
2.8
84
0
84
0
[ 12.904878616333008, 111.44152069091797, 104.46356964111328, 74.01905822753906, -0.21293282508850098, 32.21605682373047 ]
[ 12.216796875, 111.4453125, 106.875, 74.619140625, 0, 28.145694732666016 ]
2.833333
85
0
85
0
[ 13.072439193725586, 111.09188842773438, 105.01190185546875, 73.70880889892578, -0.379347562789917, 33.91679382324219 ]
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2.866667
86
0
86
0
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[ 12.3046875, 111.09375, 106.875, 74.619140625, 0, 30.629138946533203 ]
2.9
87
0
87
0
[ 13.046728134155273, 110.83456420898438, 106.02543640136719, 73.0269546508789, -0.5275535583496094, 36.305702209472656 ]
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2.933333
88
0
88
0
[ 13.045578002929688, 110.61552429199219, 106.32339477539062, 72.68468475341797, -0.593669056892395, 36.81649398803711 ]
[ 12.83203125, 110.654296875, 106.875, 74.091796875, 0, 33.44371032714844 ]
2.966667
89
0
89
0
[ 12.98779296875, 110.42601013183594, 106.66992950439453, 72.66813659667969, -0.4985806941986084, 38.59232711791992 ]
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3
90
0
90
0
[ 13.094175338745117, 110.40144348144531, 107.61988830566406, 71.83975219726562, -0.7172876596450806, 39.51760482788086 ]
[ 13.095703125, 110.390625, 106.962890625, 73.564453125, 0, 35.43046188354492 ]
3.033333
91
0
91
0
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[ 13.18359375, 110.302734375, 107.05078125, 73.388671875, 0, 36.4238395690918 ]
3.066667
92
0
92
0
[ 13.141864776611328, 110.16358947753906, 108.06211853027344, 71.59847259521484, -0.5679903030395508, 39.979576110839844 ]
[ 13.095703125, 110.126953125, 107.75390625, 72.94921875, 0, 37.74834442138672 ]
3.1
93
0
93
0
[ 13.056934356689453, 109.87824249267578, 108.90106201171875, 70.52791595458984, -0.8363595604896545, 40.759071350097656 ]
[ 12.919921875, 109.86328125, 108.369140625, 72.685546875, 0, 38.82450485229492 ]
3.133333
94
0
94
0
[ 13.08697509765625, 109.70808410644531, 108.86492919921875, 70.35969543457031, -0.8602734208106995, 40.48085403442383 ]
[ 12.919921875, 109.599609375, 108.45703125, 72.421875, 0, 39.1556282043457 ]
3.166667
95
0
95
0
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[ 12.919921875, 109.51171875, 108.6328125, 71.89453125, -0.17578125, 39.48675537109375 ]
3.2
96
0
96
0
[ 12.848836898803711, 110.02410125732422, 110.36479187011719, 69.06881713867188, -1.104089617729187, 41.191165924072266 ]
[ 12.919921875, 109.51171875, 109.16015625, 71.279296875, -0.3515625, 39.90066146850586 ]
3.233333
97
0
97
0
[ 12.707246780395508, 110.38424682617188, 111.12297058105469, 68.24153900146484, -1.2180354595184326, 40.7688102722168 ]
[ 12.919921875, 109.3359375, 109.6875, 70.83984375, -0.3515625, 40.314571380615234 ]
3.266667
98
0
98
0
[ 12.625921249389648, 110.28472900390625, 111.66860961914062, 67.74000549316406, -1.1625609397888184, 41.32802963256836 ]
[ 12.919921875, 109.3359375, 110.56640625, 70.224609375, -0.52734375, 40.56291580200195 ]
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": 1,
    "total_frames": 883,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
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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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                "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": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        },
        "observation.images.above": {
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        "frame_index": {
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    }
}

Citation

BibTeX:

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