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observation.state
sequence
timestamp
float32
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59.6
frame_index
int64
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1.79k
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0
66
0
[ 9.643415451049805, 165.8943634033203, 145.2960205078125, 40.06865692138672, 119.81468200683594, 3.419200897216797 ]
[ 11.337890625, 160.751953125, 149.853515625, 35.15625, 118.564453125, 3.7828948497772217 ]
2.233333
67
0
67
0
[ 8.894279479980469, 166.8394775390625, 145.26649475097656, 41.55744171142578, 118.35025787353516, 3.291025161743164 ]
[ 10.72265625, 161.806640625, 149.58984375, 36.650390625, 118.916015625, 3.7828948497772217 ]
2.266667
68
0
68
0
[ 8.816812515258789, 167.17005920410156, 145.58328247070312, 41.33241271972656, 120.60397338867188, 3.2773685455322266 ]
[ 10.1953125, 162.685546875, 149.326171875, 38.056640625, 118.740234375, 3.7828948497772217 ]
2.3
69
0
69
0
[ 7.887876510620117, 167.88919067382812, 145.15591430664062, 42.35442352294922, 120.32343292236328, 3.2249927520751953 ]
[ 9.580078125, 163.564453125, 149.150390625, 39.19921875, 118.564453125, 3.7828948497772217 ]
2.333333
70
0
70
0
[ 6.405246734619141, 168.29273986816406, 145.01744079589844, 43.646392822265625, 118.99356842041016, 3.2897491455078125 ]
[ 8.876953125, 164.35546875, 149.150390625, 40.166015625, 119.267578125, 3.7828948497772217 ]
2.366667
71
0
71
0
[ 5.989584922790527, 168.4478302001953, 145.1022491455078, 43.711570739746094, 119.64918518066406, 3.1446666717529297 ]
[ 8.0859375, 165.05859375, 149.0625, 41.044921875, 119.35546875, 3.7828948497772217 ]
2.4
72
0
72
0
[ 5.141233444213867, 168.868896484375, 145.0702667236328, 44.35075759887695, 120.15086364746094, 3.100778579711914 ]
[ 7.20703125, 165.76171875, 149.0625, 41.8359375, 118.828125, 3.7828948497772217 ]
2.433333
73
0
73
0
[ 4.18345832824707, 169.58592224121094, 144.79693603515625, 45.37507629394531, 118.63280487060547, 2.8714542388916016 ]
[ 6.416015625, 166.2890625, 149.0625, 42.5390625, 119.00390625, 3.7828948497772217 ]
2.466667
74
0
74
0
[ 3.4220571517944336, 170.1734619140625, 145.20669555664062, 45.928096771240234, 119.22904968261719, 2.856882095336914 ]
[ 5.625, 166.640625, 148.974609375, 43.330078125, 119.1796875, 3.6184210777282715 ]
2.5
75
0
75
0
[ 3.066422462463379, 170.1693115234375, 145.08566284179688, 45.50712585449219, 118.5003662109375, 2.416543960571289 ]
[ 4.921875, 167.16796875, 148.88671875, 44.033203125, 118.828125, 3.125 ]
2.533333
76
0
76
0
[ 2.2721033096313477, 170.28277587890625, 145.19033813476562, 46.063499450683594, 118.64553833007812, 2.6171493530273438 ]
[ 4.306640625, 167.958984375, 148.88671875, 44.560546875, 118.740234375, 2.7960526943206787 ]
2.566667
77
0
77
0
[ 1.759847640991211, 170.26565551757812, 145.0903778076172, 46.12917709350586, 118.55313110351562, 2.576265335083008 ]
[ 3.779296875, 168.486328125, 148.88671875, 44.82421875, 118.388671875, 2.7960526943206787 ]
2.6
78
0
78
0
[ 1.2171306610107422, 170.66473388671875, 145.8177947998047, 46.219032287597656, 118.68727111816406, 2.188037872314453 ]
[ 3.076171875, 168.837890625, 148.88671875, 45.3515625, 118.212890625, 2.7960526943206787 ]
2.633333
79
0
79
0
[ 0.7533302307128906, 171.48748779296875, 145.47438049316406, 47.06388854980469, 118.23995208740234, 1.9892997741699219 ]
[ 2.197265625, 169.013671875, 148.88671875, 45.703125, 118.212890625, 2.7960526943206787 ]
2.666667
80
0
80
0
[ -0.18413352966308594, 170.77099609375, 145.42686462402344, 47.32074737548828, 118.27180480957031, 2.115215301513672 ]
[ 1.40625, 169.189453125, 148.88671875, 45.966796875, 118.212890625, 2.7960526943206787 ]
2.7
81
0
81
0
[ -0.7751293182373047, 170.50527954101562, 145.660888671875, 47.07887649536133, 118.83575439453125, 2.1199092864990234 ]
[ 0.703125, 169.541015625, 148.88671875, 46.494140625, 118.212890625, 2.6315789222717285 ]
2.733333
82
0
82
0
[ -1.2604150772094727, 170.2098388671875, 145.51824951171875, 46.80034637451172, 118.91063690185547, 1.7970542907714844 ]
[ 0.439453125, 169.62890625, 148.88671875, 46.669921875, 118.212890625, 2.6315789222717285 ]
2.766667
83
0
83
0
[ -2.067084312438965, 170.63751220703125, 145.60206604003906, 47.3527717590332, 119.2225341796875, 1.7939453125 ]
[ 0.263671875, 169.62890625, 148.88671875, 46.7578125, 118.212890625, 2.6315789222717285 ]
2.8
84
0
84
0
[ -2.269537925720215, 170.60140991210938, 145.8986358642578, 47.1790771484375, 118.91057586669922, 1.6379356384277344 ]
[ 0.17578125, 169.62890625, 148.88671875, 46.669921875, 118.30078125, 2.3026316165924072 ]
2.833333
85
0
85
0
[ -2.8533639907836914, 169.59988403320312, 145.86082458496094, 46.415184020996094, 119.29879760742188, 1.5142230987548828 ]
[ -0.52734375, 169.62890625, 148.88671875, 46.93359375, 118.4765625, 1.9736840724945068 ]
2.866667
86
0
86
0
[ -3.0934104919433594, 170.24696350097656, 146.6002197265625, 46.6840934753418, 119.8122329711914, 1.2650737762451172 ]
[ -1.23046875, 169.62890625, 148.88671875, 46.93359375, 118.212890625, 1.9736840724945068 ]
2.9
87
0
87
0
[ -3.290022850036621, 170.31640625, 146.802001953125, 47.03897476196289, 121.00867462158203, 1.1366806030273438 ]
[ -1.845703125, 169.541015625, 148.88671875, 46.7578125, 118.4765625, 1.9736840724945068 ]
2.933333
88
0
88
0
[ -3.539947509765625, 169.97662353515625, 147.06472778320312, 46.741920471191406, 121.64138793945312, 1.0659923553466797 ]
[ -2.373046875, 169.453125, 148.88671875, 46.7578125, 118.828125, 1.9736840724945068 ]
2.966667
89
0
89
0
[ -3.997593879699707, 170.29026794433594, 147.55148315429688, 46.684043884277344, 122.91348266601562, 1.149240493774414 ]
[ -2.548828125, 169.453125, 148.88671875, 46.93359375, 119.70703125, 1.9736840724945068 ]
3
90
0
90
0
[ -4.205284118652344, 170.2588348388672, 147.9092559814453, 46.22679901123047, 122.9009780883789, 1.0386886596679688 ]
[ -2.63671875, 169.365234375, 148.88671875, 46.7578125, 120.322265625, 1.9736840724945068 ]
3.033333
91
0
91
0
[ -4.405632019042969, 169.09811401367188, 147.4629669189453, 45.52336120605469, 124.20735168457031, 0.9845809936523438 ]
[ -2.63671875, 169.365234375, 148.88671875, 46.7578125, 121.025390625, 1.9736840724945068 ]
3.066667
92
0
92
0
[ -4.439784049987793, 170.26181030273438, 148.56565856933594, 46.157875061035156, 126.12612915039062, 0.9965305328369141 ]
[ -2.8125, 169.365234375, 148.88671875, 46.669921875, 121.552734375, 1.8092105388641357 ]
3.1
93
0
93
0
[ -4.668845176696777, 170.12091064453125, 148.54725646972656, 45.91886901855469, 126.2451171875, 0.9958648681640625 ]
[ -3.251953125, 169.189453125, 148.88671875, 46.58203125, 122.607421875, 1.4802632331848145 ]
3.133333
94
0
94
0
[ -4.791269302368164, 169.88792419433594, 148.7939910888672, 45.353309631347656, 127.68006896972656, 0.9577465057373047 ]
[ -3.8671875, 169.189453125, 148.88671875, 46.58203125, 123.92578125, 1.3157894611358643 ]
3.166667
95
0
95
0
[ -4.8767547607421875, 170.26124572753906, 149.35386657714844, 45.13163375854492, 128.07864379882812, 1.0610675811767578 ]
[ -3.8671875, 169.27734375, 148.88671875, 46.40625, 124.716796875, 1.3157894611358643 ]
3.2
96
0
96
0
[ -4.867244720458984, 170.21856689453125, 149.14422607421875, 45.704647064208984, 128.57383728027344, 0.9885807037353516 ]
[ -3.8671875, 169.189453125, 148.974609375, 46.40625, 125.5078125, 1.3157894611358643 ]
3.233333
97
0
97
0
[ -5.036446571350098, 170.82705688476562, 149.6138458251953, 45.91956329345703, 129.14337158203125, 0.8924522399902344 ]
[ -3.69140625, 169.189453125, 149.501953125, 46.318359375, 126.298828125, 1.3157894611358643 ]
3.266667
98
0
98
0
[ -4.864832878112793, 169.82870483398438, 149.093505859375, 45.442588806152344, 130.33396911621094, 0.8829555511474609 ]
[ -3.603515625, 169.365234375, 149.765625, 46.318359375, 127.265625, 0.9868420362472534 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 8,
    "total_frames": 14280,
    "total_tasks": 1,
    "total_videos": 16,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:8"
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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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                "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",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
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            "shape": [
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            "names": [
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        "observation.images.phone": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        }
    }
}

Citation

BibTeX:

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