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sequence
observation.state
sequence
timestamp
float32
0
29.4
frame_index
int64
0
883
episode_index
int64
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int64
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[ 85.517578125, 87.275390625, 137.373046875, -39.990234375, -88.154296875, 1.3061224222183228 ]
2.166667
65
0
65
0
[ 84.6025390625, 85.30774688720703, 132.41893005371094, -41.96624755859375, -87.32085418701172, 6.289366722106934 ]
[ 85.60546875, 86.572265625, 136.669921875, -39.990234375, -88.154296875, 2.5306122303009033 ]
2.2
66
0
66
0
[ 84.58856201171875, 84.92185974121094, 131.59765625, -41.79856872558594, -87.22728729248047, 8.765348434448242 ]
[ 85.60546875, 85.78125, 135.87890625, -40.078125, -87.978515625, 3.673469305038452 ]
2.233333
67
0
67
0
[ 84.56529998779297, 84.87080383300781, 131.640869140625, -41.909481048583984, -87.1296615600586, 10.751903533935547 ]
[ 85.4296875, 85.341796875, 135.703125, -40.166015625, -87.802734375, 4.734694004058838 ]
2.266667
68
0
68
0
[ 84.4157943725586, 84.46609497070312, 131.6261749267578, -42.20476150512695, -86.95714569091797, 13.002970695495605 ]
[ 85.25390625, 84.7265625, 135.087890625, -40.166015625, -87.802734375, 6.36734676361084 ]
2.3
69
0
69
0
[ 84.47402954101562, 85.06350708007812, 132.08331298828125, -42.046504974365234, -86.59113311767578, 19.927968978881836 ]
[ 84.990234375, 84.55078125, 134.912109375, -40.25390625, -87.802734375, 8.163265228271484 ]
2.333333
70
0
70
0
[ 84.5335464477539, 85.13247680664062, 131.79161071777344, -41.811336517333984, -86.34500122070312, 25.00531768798828 ]
[ 84.814453125, 84.19921875, 134.82421875, -40.341796875, -87.626953125, 10.122448921203613 ]
2.366667
71
0
71
0
[ 84.55512237548828, 84.92401885986328, 131.50970458984375, -41.705902099609375, -86.17481994628906, 27.706363677978516 ]
[ 84.638671875, 84.111328125, 134.82421875, -40.341796875, -87.36328125, 13.959184646606445 ]
2.4
72
0
72
0
[ 84.5616226196289, 85.15763854980469, 131.57058715820312, -41.36431884765625, -85.8675537109375, 36.585750579833984 ]
[ 84.55078125, 84.0234375, 134.82421875, -40.341796875, -87.099609375, 18.693878173828125 ]
2.433333
73
0
73
0
[ 84.65643310546875, 85.33143615722656, 131.79299926757812, -41.234107971191406, -85.64613342285156, 43.18220138549805 ]
[ 84.55078125, 84.0234375, 134.6484375, -40.341796875, -86.923828125, 21.795917510986328 ]
2.466667
74
0
74
0
[ 84.76026916503906, 84.99981689453125, 131.40335083007812, -41.004112243652344, -85.59698486328125, 47.724098205566406 ]
[ 84.55078125, 84.0234375, 134.47265625, -40.341796875, -86.66015625, 26.612245559692383 ]
2.5
75
0
75
0
[ 84.83580780029297, 84.79313659667969, 131.2303924560547, -40.91688537597656, -85.55921936035156, 52.06022644042969 ]
[ 84.55078125, 84.0234375, 134.47265625, -40.341796875, -86.484375, 32.73469543457031 ]
2.533333
76
0
76
0
[ 84.91343688964844, 84.55926513671875, 130.8887939453125, -40.76021957397461, -85.60678100585938, 53.634952545166016 ]
[ 84.55078125, 84.0234375, 134.384765625, -40.341796875, -86.30859375, 38.44898223876953 ]
2.566667
77
0
77
0
[ 85.26907348632812, 83.5742416381836, 129.8665313720703, -40.52926254272461, -85.61610412597656, 57.5494270324707 ]
[ 84.638671875, 84.0234375, 134.384765625, -40.341796875, -86.1328125, 43.34693908691406 ]
2.6
78
0
78
0
[ 85.24677276611328, 83.81964874267578, 130.12728881835938, -40.41637420654297, -85.51173400878906, 58.00615310668945 ]
[ 84.638671875, 84.0234375, 134.033203125, -40.341796875, -86.1328125, 46.1224479675293 ]
2.633333
79
0
79
0
[ 85.35944366455078, 83.5883560180664, 129.78912353515625, -40.33137893676758, -85.30366516113281, 59.065589904785156 ]
[ 84.638671875, 83.583984375, 133.41796875, -40.341796875, -86.1328125, 49.8775520324707 ]
2.666667
80
0
80
0
[ 85.62224578857422, 82.81745910644531, 128.8857421875, -40.23877716064453, -85.15042114257812, 60.061309814453125 ]
[ 84.638671875, 83.3203125, 133.2421875, -40.341796875, -86.1328125, 52.32653045654297 ]
2.7
81
0
81
0
[ 85.6824722290039, 82.59111022949219, 128.571044921875, -40.20969772338867, -84.94912719726562, 60.17955780029297 ]
[ 84.7265625, 83.14453125, 132.890625, -40.341796875, -86.044921875, 54.20408248901367 ]
2.733333
82
0
82
0
[ 85.97885131835938, 81.60861206054688, 127.43795013427734, -40.175601959228516, -85.0406723022461, 60.56446075439453 ]
[ 84.814453125, 82.6171875, 132.1875, -40.341796875, -85.95703125, 55.918365478515625 ]
2.766667
83
0
83
0
[ 86.1790771484375, 80.66844940185547, 126.37706756591797, -40.17841339111328, -85.14478302001953, 60.79620361328125 ]
[ 84.90234375, 82.177734375, 131.66015625, -40.25390625, -85.693359375, 57.142860412597656 ]
2.8
84
0
84
0
[ 86.3503189086914, 79.87556457519531, 125.5401382446289, -40.28371810913086, -85.16788482666016, 60.95292663574219 ]
[ 85.078125, 81.5625, 130.869140625, -40.25390625, -85.693359375, 58.04081726074219 ]
2.833333
85
0
85
0
[ 86.55380249023438, 78.76329040527344, 124.30670166015625, -40.2838020324707, -85.28263854980469, 61.05014419555664 ]
[ 85.341796875, 80.68359375, 129.990234375, -40.25390625, -85.60546875, 58.775508880615234 ]
2.866667
86
0
86
0
[ 86.49752044677734, 78.710205078125, 124.14279174804688, -40.16743850708008, -85.18440246582031, 61.096927642822266 ]
[ 85.60546875, 79.892578125, 129.111328125, -40.25390625, -85.60546875, 59.34693908691406 ]
2.9
87
0
87
0
[ 86.69908142089844, 77.54240417480469, 122.84324645996094, -40.2660026550293, -85.30839538574219, 61.19435119628906 ]
[ 85.78125, 78.92578125, 128.232421875, -40.25390625, -85.60546875, 59.836734771728516 ]
2.933333
88
0
88
0
[ 86.8113021850586, 77.07102966308594, 122.39044952392578, -40.291786193847656, -85.47086334228516, 61.150028228759766 ]
[ 86.044921875, 78.486328125, 127.705078125, -40.25390625, -85.60546875, 60.08163070678711 ]
2.966667
89
0
89
0
[ 86.92518615722656, 76.37617492675781, 121.4868392944336, -40.264434814453125, -85.43756866455078, 61.26182174682617 ]
[ 86.1328125, 77.783203125, 126.73828125, -40.25390625, -85.60546875, 60.32653045654297 ]
3
90
0
90
0
[ 86.99884033203125, 75.70289611816406, 120.65254211425781, -40.18728256225586, -85.47114562988281, 61.34208679199219 ]
[ 86.220703125, 77.080078125, 126.03515625, -40.25390625, -85.60546875, 60.408164978027344 ]
3.033333
91
0
91
0
[ 87.05748748779297, 75.06690979003906, 119.87583923339844, -40.17481994628906, -85.49415588378906, 61.396400451660156 ]
[ 86.30859375, 76.2890625, 125.15625, -40.25390625, -85.60546875, 60.65306091308594 ]
3.066667
92
0
92
0
[ 87.00499725341797, 74.91921997070312, 119.77495574951172, -40.186614990234375, -85.5478744506836, 61.332855224609375 ]
[ 86.30859375, 75.498046875, 124.541015625, -40.25390625, -85.60546875, 60.816322326660156 ]
3.1
93
0
93
0
[ 87.08647155761719, 74.3016357421875, 119.00183868408203, -40.16194534301758, -85.54304504394531, 61.4530143737793 ]
[ 86.396484375, 74.8828125, 123.662109375, -40.25390625, -85.60546875, 60.89795684814453 ]
3.133333
94
0
94
0
[ 87.11471557617188, 73.89833068847656, 118.4652099609375, -40.07037353515625, -85.59083557128906, 61.46229553222656 ]
[ 86.396484375, 74.53125, 123.134765625, -40.25390625, -85.60546875, 60.89795684814453 ]
3.166667
95
0
95
0
[ 87.16927337646484, 73.3729476928711, 117.84253692626953, -40.1016731262207, -85.58273315429688, 61.571876525878906 ]
[ 86.396484375, 74.00390625, 122.431640625, -40.25390625, -85.60546875, 60.89795684814453 ]
3.2
96
0
96
0
[ 87.1803207397461, 72.64671325683594, 116.95277404785156, -40.034053802490234, -85.65756225585938, 61.58283615112305 ]
[ 86.30859375, 73.564453125, 121.904296875, -40.25390625, -85.60546875, 60.89795684814453 ]
3.233333
97
0
97
0
[ 87.16374969482422, 72.37107849121094, 116.61528778076172, -39.99283981323242, -85.662841796875, 61.638633728027344 ]
[ 86.30859375, 73.037109375, 121.201171875, -40.25390625, -85.60546875, 60.89795684814453 ]
3.266667
98
0
98
0
[ 87.17094421386719, 71.83462524414062, 115.99435424804688, -39.95268249511719, -85.68429565429688, 61.65824890136719 ]
[ 86.30859375, 72.421875, 120.498046875, -40.25390625, -85.60546875, 60.89795684814453 ]
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": 884,
    "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": {
        "action": {
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            "names": [
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                "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.laptop": {
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            "names": [
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        "observation.images.phone": {
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                "has_audio": false
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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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