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observation.state
sequence
timestamp
float32
0
41.5
frame_index
int64
0
1.25k
episode_index
int64
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index
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2.32k
task_index
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[ -9.580078125, 33.662109375, 24.345703125, 87.71484375, -72.94921875, 10.634765625 ]
2.2
66
0
66
0
[ -10.61922836303711, 37.117916107177734, 28.104206085205078, 87.7145767211914, -75.73644256591797, 3.0319252014160156 ]
[ -9.66796875, 33.837890625, 25.48828125, 87.5390625, -73.125, 10.107421875 ]
2.233333
67
0
67
0
[ -10.187824249267578, 40.74348831176758, 33.32264709472656, 85.41149139404297, -74.98841094970703, 3.6305484771728516 ]
[ -9.580078125, 34.365234375, 27.94921875, 87.1875, -73.212890625, 9.931640625 ]
2.266667
68
0
68
0
[ -10.585443496704102, 42.08952713012695, 33.74958801269531, 86.37369537353516, -75.4002456665039, 1.9596023559570312 ]
[ -9.66796875, 34.62890625, 29.267578125, 86.66015625, -73.125, 9.931640625 ]
2.3
69
0
69
0
[ -9.914691925048828, 48.53245162963867, 40.49948501586914, 84.67536926269531, -74.38801574707031, 1.9525146484375 ]
[ -9.66796875, 35.419921875, 30.146484375, 86.396484375, -73.212890625, 9.931640625 ]
2.333333
70
0
70
0
[ -10.192634582519531, 45.468502044677734, 36.915130615234375, 85.4458236694336, -75.18587493896484, 1.3286571502685547 ]
[ -9.755859375, 36.9140625, 32.958984375, 85.78125, -73.125, 9.580078125 ]
2.366667
71
0
71
0
[ -10.347190856933594, 54.1667594909668, 45.28996658325195, 83.8923568725586, -72.81745910644531, 0.8607730865478516 ]
[ -9.66796875, 39.375, 36.650390625, 84.990234375, -73.212890625, 9.4921875 ]
2.4
72
0
72
0
[ -10.078296661376953, 56.32424545288086, 47.35871124267578, 83.47885131835938, -72.3591537475586, 1.9915809631347656 ]
[ -9.66796875, 41.220703125, 39.0234375, 84.375, -73.212890625, 9.4921875 ]
2.433333
73
0
73
0
[ -10.054435729980469, 63.010074615478516, 55.223236083984375, 81.07254028320312, -69.45171356201172, 2.262174606323242 ]
[ -9.580078125, 43.06640625, 41.044921875, 84.111328125, -73.212890625, 9.4921875 ]
2.466667
74
0
74
0
[ -11.396644592285156, 64.59561920166016, 54.296852111816406, 82.83623504638672, -69.06344604492188, 0.5760421752929688 ]
[ -9.755859375, 46.0546875, 46.7578125, 83.408203125, -73.125, 9.4921875 ]
2.5
75
0
75
0
[ -11.77942943572998, 64.7666244506836, 53.113059997558594, 84.65633392333984, -68.6966323852539, 0.7038860321044922 ]
[ -9.84375, 49.658203125, 52.294921875, 82.529296875, -72.861328125, 9.4921875 ]
2.533333
76
0
76
0
[ -13.96562385559082, 69.77283477783203, 56.2655029296875, 84.7567138671875, -64.42689514160156, -0.1599254608154297 ]
[ -10.01953125, 53.26171875, 56.689453125, 82.001953125, -71.630859375, 9.4921875 ]
2.566667
77
0
77
0
[ -14.349184036254883, 70.68637084960938, 55.29148864746094, 87.3765869140625, -63.36968231201172, -0.38468170166015625 ]
[ -10.283203125, 55.986328125, 57.041015625, 82.705078125, -70.48828125, 9.4921875 ]
2.6
78
0
78
0
[ -15.535809516906738, 71.67878723144531, 55.815879821777344, 87.44877624511719, -63.26795959472656, -0.7569522857666016 ]
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2.633333
79
0
79
0
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[ -12.041015625, 61.435546875, 57.216796875, 83.3203125, -67.060546875, 9.4921875 ]
2.666667
80
0
80
0
[ -17.175777435302734, 79.38617706298828, 62.119834899902344, 87.0011978149414, -55.174537658691406, 0.2973480224609375 ]
[ -13.359375, 64.3359375, 57.216796875, 83.84765625, -65.478515625, 9.4921875 ]
2.7
81
0
81
0
[ -22.191892623901367, 83.89559936523438, 62.291648864746094, 90.56558227539062, -47.659393310546875, -0.4308910369873047 ]
[ -14.501953125, 67.412109375, 58.447265625, 84.462890625, -63.6328125, 9.4921875 ]
2.733333
82
0
82
0
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[ -15.64453125, 70.83984375, 61.875, 84.7265625, -60.908203125, 9.4921875 ]
2.766667
83
0
83
0
[ -23.89592742919922, 90.09124755859375, 65.00545501708984, 94.8478012084961, -38.92313003540039, 0.5913066864013672 ]
[ -17.314453125, 73.916015625, 64.16015625, 85.869140625, -57.216796875, 9.4921875 ]
2.8
84
0
84
0
[ -28.414045333862305, 91.76309204101562, 63.889549255371094, 97.58506774902344, -33.40748977661133, 0.2910270690917969 ]
[ -19.599609375, 77.16796875, 65.302734375, 87.626953125, -52.3828125, 9.4921875 ]
2.833333
85
0
85
0
[ -35.61631393432617, 97.28252410888672, 66.60668182373047, 100.13308715820312, -21.064865112304688, -0.06445121765136719 ]
[ -21.533203125, 80.595703125, 66.357421875, 89.208984375, -47.109375, 9.4921875 ]
2.866667
86
0
86
0
[ -34.28133010864258, 98.40939331054688, 68.04849243164062, 100.00203704833984, -20.867570877075195, 0.3391551971435547 ]
[ -23.5546875, 83.759765625, 66.357421875, 90.966796875, -42.5390625, 9.4921875 ]
2.9
87
0
87
0
[ -38.68102264404297, 98.86572265625, 65.01018524169922, 104.55713653564453, -16.386201858520508, -0.37928009033203125 ]
[ -26.806640625, 87.1875, 66.533203125, 92.98828125, -37.353515625, 9.4921875 ]
2.933333
88
0
88
0
[ -40.77957534790039, 102.93827819824219, 72.85858154296875, 99.08932495117188, -8.87300968170166, 0.6564674377441406 ]
[ -29.970703125, 90.87890625, 67.939453125, 94.5703125, -30.9375, 9.4921875 ]
2.966667
89
0
89
0
[ -46.08673858642578, 104.22657775878906, 71.01944732666016, 102.75338745117188, -2.8055808544158936, -0.1275005340576172 ]
[ -33.310546875, 93.603515625, 68.466796875, 96.50390625, -25.48828125, 9.4921875 ]
3
90
0
90
0
[ -48.71287536621094, 107.16914367675781, 75.47200012207031, 101.73367309570312, 4.058413505554199, 1.1040973663330078 ]
[ -36.298828125, 96.15234375, 70.13671875, 98.0859375, -20.21484375, 9.4921875 ]
3.033333
91
0
91
0
[ -54.243309020996094, 108.22736358642578, 75.12740325927734, 102.6949691772461, 10.283114433288574, 0.5353870391845703 ]
[ -39.638671875, 98.7890625, 72.509765625, 98.61328125, -14.765625, 9.4921875 ]
3.066667
92
0
92
0
[ -58.90830993652344, 109.98969268798828, 77.74182891845703, 100.87855529785156, 18.409502029418945, 0.3818073272705078 ]
[ -43.2421875, 101.25, 74.70703125, 98.876953125, -8.701171875, 9.4921875 ]
3.1
93
0
93
0
[ -62.5109748840332, 111.95304870605469, 79.50563049316406, 101.72451782226562, 25.586715698242188, 1.0281200408935547 ]
[ -47.197265625, 103.447265625, 76.904296875, 99.052734375, -2.63671875, 9.4921875 ]
3.133333
94
0
94
0
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[ -51.6796875, 105.29296875, 77.87109375, 99.228515625, 3.8671875, 9.4921875 ]
3.166667
95
0
95
0
[ -71.64984130859375, 113.40434265136719, 81.54351806640625, 100.91326141357422, 40.45817947387695, 1.1243629455566406 ]
[ -56.689453125, 107.40234375, 79.541015625, 99.228515625, 12.12890625, 9.4921875 ]
3.2
96
0
96
0
[ -71.86404418945312, 113.83799743652344, 82.41680145263672, 100.66595458984375, 42.07463836669922, 1.5187664031982422 ]
[ -60.556640625, 109.16015625, 81.650390625, 99.140625, 18.80859375, 9.4921875 ]
3.233333
97
0
97
0
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[ -64.16015625, 110.302734375, 83.14453125, 99.228515625, 25.576171875, 9.4921875 ]
3.266667
98
0
98
0
[ -77.99662780761719, 113.9323959350586, 83.13803100585938, 99.98896026611328, 52.066200256347656, 2.113901138305664 ]
[ -67.67578125, 110.91796875, 83.14453125, 99.31640625, 31.904296875, 9.4921875 ]
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": "koch",
    "total_episodes": 10,
    "total_frames": 2319,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
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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": [
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                "main_wrist_roll",
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        "observation.state": {
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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.images.cam_high": {
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    }
}

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BibTeX:

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