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observation.state
sequence
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float32
0
286
frame_index
int64
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8.59k
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int64
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[ 39.55078125, 129.287109375, 89.736328125, 79.453125, -83.056640625, 0.8620689511299133 ]
2.166667
65
0
65
0
[ 39.936527252197266, 129.1573486328125, 91.60070037841797, 71.93260955810547, -86.77812194824219, 0.8325119018554688 ]
[ 39.7265625, 129.111328125, 90.087890625, 78.046875, -84.111328125, 0.8620689511299133 ]
2.2
66
0
66
0
[ 39.70884704589844, 129.32766723632812, 92.79206848144531, 70.5514907836914, -87.35348510742188, 0.8594017028808594 ]
[ 39.814453125, 129.111328125, 90.87890625, 76.640625, -84.90234375, 0.8620689511299133 ]
2.233333
67
0
67
0
[ 39.522212982177734, 129.5472869873047, 93.97544860839844, 69.29780578613281, -87.78440856933594, 0.8772048950195312 ]
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2.266667
68
0
68
0
[ 39.32245635986328, 129.79879760742188, 95.06146240234375, 68.17939758300781, -88.13325500488281, 0.8957481384277344 ]
[ 39.990234375, 129.111328125, 93.251953125, 73.564453125, -86.484375, 0.8620689511299133 ]
2.3
69
0
69
0
[ 39.1193962097168, 130.0880126953125, 96.2712173461914, 66.94654083251953, -88.4873046875, 0.9424781799316406 ]
[ 39.990234375, 129.111328125, 94.482421875, 72.24609375, -87.01171875, 0.8620689511299133 ]
2.333333
70
0
70
0
[ 38.925987243652344, 130.41091918945312, 97.6106948852539, 65.6197280883789, -88.78750610351562, 1.0174903869628906 ]
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2.366667
71
0
71
0
[ 38.7205924987793, 130.78965759277344, 98.87950897216797, 64.4798812866211, -89.0713882446289, 1.1153526306152344 ]
[ 39.90234375, 129.111328125, 96.943359375, 69.78515625, -87.890625, 0.8620689511299133 ]
2.4
72
0
72
0
[ 38.55480194091797, 131.2383270263672, 100.3991470336914, 63.110748291015625, -89.3904800415039, 1.327117919921875 ]
[ 39.638671875, 129.111328125, 98.173828125, 68.466796875, -88.2421875, 0.8620689511299133 ]
2.433333
73
0
73
0
[ 38.39653778076172, 131.8292236328125, 102.15457153320312, 61.6502685546875, -89.72184753417969, 1.5950298309326172 ]
[ 39.375, 129.111328125, 99.580078125, 67.1484375, -88.505859375, 0.8620689511299133 ]
2.466667
74
0
74
0
[ 38.25300598144531, 132.37168884277344, 103.74818420410156, 60.32012176513672, -90.02738189697266, 1.86669921875 ]
[ 39.0234375, 129.111328125, 101.07421875, 66.005859375, -88.9453125, 0.9482759237289429 ]
2.5
75
0
75
0
[ 38.15145492553711, 132.86331176757812, 105.39994812011719, 58.95038604736328, -90.3259506225586, 2.1334028244018555 ]
[ 38.759765625, 129.19921875, 102.568359375, 64.51171875, -89.296875, 1.1206897497177124 ]
2.533333
76
0
76
0
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2.566667
77
0
77
0
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[ 38.408203125, 129.990234375, 105.908203125, 61.69921875, -89.912109375, 1.465517282485962 ]
2.6
78
0
78
0
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[ 38.408203125, 130.517578125, 107.490234375, 60.380859375, -90.17578125, 1.7241379022598267 ]
2.633333
79
0
79
0
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2.666667
80
0
80
0
[ 37.69911193847656, 134.94998168945312, 114.08338928222656, 50.93988800048828, -91.69207763671875, 3.5030479431152344 ]
[ 38.49609375, 131.572265625, 111.005859375, 57.3046875, -90.87890625, 2.241379499435425 ]
2.7
81
0
81
0
[ 37.57129669189453, 135.16293334960938, 115.91120910644531, 49.0760612487793, -91.93505096435547, 3.889327049255371 ]
[ 38.49609375, 132.01171875, 112.8515625, 55.810546875, -91.142578125, 2.5 ]
2.733333
82
0
82
0
[ 37.44135665893555, 135.36351013183594, 117.91960906982422, 46.953330993652344, -92.2010498046875, 4.377079010009766 ]
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2.766667
83
0
83
0
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[ 38.14453125, 132.626953125, 116.3671875, 52.3828125, -91.58203125, 2.7586207389831543 ]
2.8
84
0
84
0
[ 37.2930793762207, 135.63616943359375, 121.31856536865234, 43.15111541748047, -92.74420166015625, 5.503803253173828 ]
[ 37.880859375, 132.890625, 118.212890625, 50.537109375, -91.845703125, 3.275861978530884 ]
2.833333
85
0
85
0
[ 37.25746154785156, 135.86712646484375, 123.42400360107422, 40.731414794921875, -93.0777816772461, 6.341544151306152 ]
[ 37.529296875, 133.06640625, 119.8828125, 48.603515625, -92.109375, 3.879310131072998 ]
2.866667
86
0
86
0
[ 37.288055419921875, 136.07235717773438, 125.44033813476562, 38.44536209106445, -93.41785430908203, 7.476409912109375 ]
[ 37.265625, 133.2421875, 121.728515625, 46.7578125, -92.373046875, 4.48275899887085 ]
2.9
87
0
87
0
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[ 37.265625, 133.505859375, 123.75, 44.6484375, -92.724609375, 5.1724138259887695 ]
2.933333
88
0
88
0
[ 37.30832290649414, 136.49227905273438, 130.0706329345703, 32.843788146972656, -94.16307067871094, 10.382193565368652 ]
[ 37.265625, 133.681640625, 125.771484375, 42.5390625, -93.076171875, 6.2068963050842285 ]
2.966667
89
0
89
0
[ 37.34943771362305, 136.664794921875, 132.38465881347656, 29.883380889892578, -94.54183197021484, 12.267366409301758 ]
[ 37.353515625, 133.857421875, 127.880859375, 40.166015625, -93.427734375, 7.3275861740112305 ]
3
90
0
90
0
[ 37.31535339355469, 136.72158813476562, 134.62831115722656, 26.82663345336914, -94.87657928466797, 14.1832914352417 ]
[ 37.44140625, 134.12109375, 130.166015625, 37.705078125, -93.779296875, 8.534482955932617 ]
3.033333
91
0
91
0
[ 37.25275802612305, 136.71861267089844, 136.62203979492188, 24.031497955322266, -95.1311264038086, 16.06551742553711 ]
[ 37.44140625, 134.296875, 132.451171875, 35.068359375, -94.04296875, 10.258621215820312 ]
3.066667
92
0
92
0
[ 37.18058395385742, 136.71792602539062, 138.28135681152344, 21.686626434326172, -95.38008117675781, 17.554452896118164 ]
[ 37.44140625, 134.296875, 134.560546875, 32.255859375, -94.39453125, 11.982758522033691 ]
3.1
93
0
93
0
[ 37.11806106567383, 136.5920867919922, 139.6327362060547, 19.656681060791016, -95.53703308105469, 18.770248413085938 ]
[ 37.44140625, 134.296875, 136.669921875, 29.35546875, -94.658203125, 13.793103218078613 ]
3.133333
94
0
94
0
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[ 37.44140625, 134.296875, 138.515625, 26.71875, -94.921875, 15.344826698303223 ]
3.166667
95
0
95
0
[ 36.94824981689453, 136.29965209960938, 141.50653076171875, 16.858631134033203, -95.83973693847656, 20.628746032714844 ]
[ 37.44140625, 134.296875, 140.009765625, 24.169921875, -95.185546875, 16.724138259887695 ]
3.2
96
0
96
0
[ 36.869850158691406, 136.10861206054688, 142.24978637695312, 15.782486915588379, -95.98255920410156, 21.41193389892578 ]
[ 37.44140625, 134.296875, 141.328125, 22.060546875, -95.361328125, 17.84482765197754 ]
3.233333
97
0
97
0
[ 36.78515625, 135.8853302001953, 142.83572387695312, 14.931391716003418, -96.07482147216797, 22.04751205444336 ]
[ 37.44140625, 134.296875, 142.20703125, 20.390625, -95.44921875, 18.793102264404297 ]
3.266667
98
0
98
0
[ 36.691184997558594, 135.63491821289062, 143.3739471435547, 14.158825874328613, -96.20844268798828, 22.662189483642578 ]
[ 37.44140625, 134.296875, 142.91015625, 18.984375, -95.625, 19.741378784179688 ]
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": 3,
    "total_frames": 25622,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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_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"
            ]
        },
        "observation.images.wrist": {
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        "timestamp": {
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        "frame_index": {
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    }
}

Citation

BibTeX:

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