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sequence
observation.state
sequence
timestamp
float32
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28.4
frame_index
int64
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852
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[ 28.14539337158203, 96.7348861694336, 103.42528533935547, 56.95405578613281, -4.3921966552734375, 36.96342849731445 ]
[ 24.43359375, 98.61328125, 105.380859375, 61.5234375, -7.03125, 34.878238677978516 ]
2.2
66
0
66
0
[ 28.08710479736328, 95.75011444091797, 102.67597961425781, 56.612144470214844, -4.5493621826171875, 36.95343017578125 ]
[ 25.751953125, 97.91015625, 105.556640625, 61.083984375, -6.416015625, 35.506675720214844 ]
2.233333
67
0
67
0
[ 28.37799835205078, 94.30343627929688, 102.4491958618164, 56.285980224609375, -4.409797668457031, 37.05842590332031 ]
[ 26.71875, 96.943359375, 105.380859375, 59.58984375, -5.44921875, 36.13511276245117 ]
2.266667
68
0
68
0
[ 28.537796020507812, 93.00762176513672, 101.52769470214844, 56.147865295410156, -4.1439361572265625, 36.9539680480957 ]
[ 27.59765625, 95.9765625, 105.205078125, 58.447265625, -5.185546875, 36.29222106933594 ]
2.3
69
0
69
0
[ 28.27392578125, 91.51387786865234, 100.54590606689453, 56.25156784057617, -4.391822814941406, 36.941368103027344 ]
[ 28.125, 94.658203125, 105.205078125, 57.919921875, -4.833984375, 36.52788543701172 ]
2.333333
70
0
70
0
[ 28.517723083496094, 90.40565490722656, 99.70980834960938, 56.600711822509766, -4.424720764160156, 36.897098541259766 ]
[ 28.212890625, 93.33984375, 104.677734375, 57.568359375, -4.658203125, 36.606441497802734 ]
2.366667
71
0
71
0
[ 28.03302001953125, 92.26624298095703, 100.33834075927734, 56.814117431640625, -2.3156051635742188, 38.17133331298828 ]
[ 27.861328125, 92.021484375, 103.88671875, 57.392578125, -4.658203125, 36.606441497802734 ]
2.4
72
0
72
0
[ 27.380836486816406, 92.1924057006836, 99.09972381591797, 57.14026641845703, -4.004417419433594, 38.10315704345703 ]
[ 27.685546875, 90.615234375, 103.18359375, 57.3046875, -4.658203125, 36.606441497802734 ]
2.433333
73
0
73
0
[ 27.880355834960938, 91.14778137207031, 98.65535736083984, 56.74423599243164, -3.8728179931640625, 38.32218933105469 ]
[ 27.685546875, 90.439453125, 103.0078125, 57.3046875, -4.658203125, 36.606441497802734 ]
2.466667
74
0
74
0
[ 27.98114776611328, 90.6565933227539, 97.48239135742188, 56.636512756347656, -3.5897903442382812, 38.510009765625 ]
[ 27.94921875, 90.439453125, 102.744140625, 57.392578125, -4.39453125, 37.23487854003906 ]
2.5
75
0
75
0
[ 28.151809692382812, 89.46556854248047, 96.8365249633789, 56.4808464050293, -3.0787277221679688, 38.71227264404297 ]
[ 28.212890625, 90.439453125, 102.216796875, 57.392578125, -4.21875, 37.70620346069336 ]
2.533333
76
0
76
0
[ 28.236083984375, 88.22517395019531, 96.30023956298828, 56.64729309082031, -3.02410888671875, 38.65583038330078 ]
[ 28.212890625, 89.82421875, 101.162109375, 57.392578125, -3.955078125, 37.941871643066406 ]
2.566667
77
0
77
0
[ 28.220176696777344, 86.7187271118164, 95.58997344970703, 56.97196578979492, -3.4042510986328125, 38.567054748535156 ]
[ 28.212890625, 89.296875, 100.283203125, 57.216796875, -3.69140625, 38.17753219604492 ]
2.6
78
0
78
0
[ 28.374420166015625, 85.64198303222656, 93.95848846435547, 57.19918441772461, -3.2861099243164062, 38.582977294921875 ]
[ 27.861328125, 88.2421875, 99.580078125, 57.3046875, -3.33984375, 38.25608825683594 ]
2.633333
79
0
79
0
[ 27.25537872314453, 89.66966247558594, 94.61695098876953, 60.332916259765625, -2.4350128173828125, 38.12248611450195 ]
[ 27.685546875, 87.01171875, 98.7890625, 57.3046875, -3.33984375, 38.25608825683594 ]
2.666667
80
0
80
0
[ 27.157325744628906, 89.4563980102539, 93.42849731445312, 60.556766510009766, -3.9601669311523438, 38.01957321166992 ]
[ 27.861328125, 85.517578125, 97.734375, 57.3046875, -3.427734375, 38.4131965637207 ]
2.7
81
0
81
0
[ 27.80133819580078, 88.83422088623047, 92.17559051513672, 60.4425048828125, -3.7238998413085938, 38.14916229248047 ]
[ 28.037109375, 85.166015625, 97.55859375, 57.392578125, -3.33984375, 38.4131965637207 ]
2.733333
82
0
82
0
[ 27.85224151611328, 88.29791259765625, 91.38416290283203, 60.582069396972656, -2.5881805419921875, 38.23407745361328 ]
[ 28.125, 85.166015625, 97.20703125, 57.919921875, -3.427734375, 38.4131965637207 ]
2.766667
83
0
83
0
[ 27.933029174804688, 86.82035827636719, 90.31610870361328, 60.71574020385742, -2.6004638671875, 38.529476165771484 ]
[ 28.125, 85.517578125, 96.240234375, 59.0625, -3.427734375, 38.4131965637207 ]
2.8
84
0
84
0
[ 27.987693786621094, 85.53312683105469, 89.23360443115234, 61.1032600402832, -2.2624130249023438, 38.544029235839844 ]
[ 27.94921875, 85.517578125, 95.185546875, 59.677734375, -3.076171875, 38.4131965637207 ]
2.833333
85
0
85
0
[ 28.223594665527344, 84.5922622680664, 88.66242980957031, 61.08348846435547, -2.192840576171875, 38.424583435058594 ]
[ 27.685546875, 85.517578125, 94.04296875, 59.94140625, -2.900390625, 38.4131965637207 ]
2.866667
86
0
86
0
[ 28.073806762695312, 84.04579162597656, 87.62916564941406, 61.38965606689453, -1.8762130737304688, 38.36509704589844 ]
[ 27.59765625, 84.7265625, 92.900390625, 60.46875, -2.724609375, 38.4131965637207 ]
2.9
87
0
87
0
[ 28.41197967529297, 87.03643798828125, 93.11510467529297, 60.05475616455078, -0.10723114013671875, 37.02547836303711 ]
[ 27.59765625, 84.0234375, 92.109375, 60.556640625, -2.548828125, 38.4131965637207 ]
2.933333
88
0
88
0
[ 28.257652282714844, 88.0047836303711, 93.34181213378906, 59.781585693359375, -0.7789688110351562, 36.75535202026367 ]
[ 27.685546875, 83.408203125, 91.40625, 60.8203125, -2.197265625, 38.4131965637207 ]
2.966667
89
0
89
0
[ 28.500473022460938, 88.5252456665039, 93.97685241699219, 59.041656494140625, -0.25981903076171875, 36.6497802734375 ]
[ 28.037109375, 83.3203125, 91.845703125, 60.908203125, -2.197265625, 38.4131965637207 ]
3
90
0
90
0
[ 28.757362365722656, 88.47891235351562, 93.42440795898438, 58.690696716308594, 0.2001800537109375, 36.43362045288086 ]
[ 28.212890625, 83.84765625, 93.69140625, 60.29296875, -1.7578125, 37.941871643066406 ]
3.033333
91
0
91
0
[ 28.637008666992188, 88.33663940429688, 93.8624038696289, 58.014076232910156, 0.2323760986328125, 36.33050537109375 ]
[ 28.30078125, 84.638671875, 94.130859375, 60.29296875, -0.791015625, 37.23487854003906 ]
3.066667
92
0
92
0
[ 28.80718231201172, 87.69709777832031, 94.1910629272461, 57.61668014526367, 0.1779327392578125, 35.99752426147461 ]
[ 28.4765625, 84.7265625, 94.130859375, 59.765625, -0.615234375, 36.92066192626953 ]
3.1
93
0
93
0
[ 28.441207885742188, 87.9445571899414, 94.71353149414062, 57.02819061279297, 0.125457763671875, 35.20386505126953 ]
[ 28.4765625, 84.814453125, 94.39453125, 59.326171875, -0.3515625, 36.842105865478516 ]
3.133333
94
0
94
0
[ 28.35584259033203, 88.05754852294922, 94.62889862060547, 56.89356231689453, 0.189910888671875, 33.59123229980469 ]
[ 28.4765625, 84.990234375, 94.74609375, 58.974609375, -0.087890625, 36.37077713012695 ]
3.166667
95
0
95
0
[ 29.38164520263672, 83.55781555175781, 90.71504211425781, 56.21208572387695, 1.8486328125, 37.465980529785156 ]
[ 28.388671875, 85.078125, 95.009765625, 58.271484375, -0.17578125, 36.21366882324219 ]
3.2
96
0
96
0
[ 29.411582946777344, 84.67130279541016, 90.80782318115234, 55.67070007324219, 0.44783782958984375, 37.419898986816406 ]
[ 28.212890625, 84.990234375, 95.185546875, 58.0078125, -0.17578125, 34.642578125 ]
3.233333
97
0
97
0
[ 29.559547424316406, 84.91043853759766, 91.43800354003906, 54.671226501464844, 0.49066162109375, 37.49264907836914 ]
[ 28.212890625, 84.990234375, 94.921875, 57.83203125, -0.087890625, 34.40691375732422 ]
3.266667
98
0
98
0
[ 29.882774353027344, 85.59581756591797, 91.94170379638672, 54.03487014770508, 0.8304214477539062, 37.28815460205078 ]
[ 28.65234375, 84.7265625, 94.130859375, 57.041015625, 0.087890625, 34.878238677978516 ]
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": 853,
    "total_tasks": 1,
    "total_videos": 3,
    "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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        "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.FrontCam": {
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        "observation.images.TopCam": {
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        "observation.images.WristCam": {
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            "names": [
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        "timestamp": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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