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hugechen
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6dof_test

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Robotics
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1K - 10K
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LeRobot
so100
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action
sequence
observation.state
sequence
timestamp
float32
0
29.8
frame_index
int64
0
893
episode_index
int64
0
10
index
int64
0
9.83k
task_index
int64
0
0
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[ 17.314453125, 123.046875, 120.5859375, 35.947265625, 11.07421875, -14.501953125, 17.7528076171875, -12.216796875, 127.353515625, 135.87890625, 28.740234375, -7.998046875, -20.21484375, 29.521278381347656 ]
2.4
72
0
72
0
[ 20.390625, 120.234375, 116.982421875, 35.33203125, 12.568359375, -15.380859375, 20.718563079833984, -16.5234375, 126.298828125, 130.25390625, 27.94921875, -9.931640625, -19.599609375, 32.16560363769531 ]
[ 17.666015625, 121.728515625, 120.5859375, 35.947265625, 11.07421875, -14.501953125, 18.65168571472168, -13.0078125, 126.474609375, 135.615234375, 28.740234375, -7.998046875, -19.6875, 29.787233352661133 ]
2.433333
73
0
73
0
[ 21.09375, 119.443359375, 117.0703125, 35.068359375, 12.568359375, -15.380859375, 20.83832359313965, -17.841796875, 125.5078125, 130.25390625, 27.861328125, -9.66796875, -19.423828125, 32.16560363769531 ]
[ 18.10546875, 120.849609375, 120.498046875, 35.947265625, 11.07421875, -14.501953125, 18.876405715942383, -13.7109375, 125.859375, 135.3515625, 28.740234375, -7.998046875, -19.51171875, 30.319149017333984 ]
2.466667
74
0
74
0
[ 21.533203125, 118.740234375, 117.158203125, 34.892578125, 12.568359375, -15.380859375, 20.83832359313965, -19.16015625, 124.453125, 130.078125, 27.861328125, -8.701171875, -18.984375, 32.27176284790039 ]
[ 18.896484375, 119.8828125, 120.498046875, 35.947265625, 11.07421875, -14.501953125, 19.101123809814453, -14.765625, 125.244140625, 135.3515625, 28.740234375, -7.998046875, -19.3359375, 30.585107803344727 ]
2.5
75
0
75
0
[ 21.708984375, 118.037109375, 117.158203125, 34.892578125, 12.568359375, -15.380859375, 20.83832359313965, -19.86328125, 123.22265625, 129.638671875, 27.861328125, -8.349609375, -18.28125, 32.3779182434082 ]
[ 19.6875, 118.828125, 120.498046875, 35.947265625, 11.07421875, -14.501953125, 19.325841903686523, -16.083984375, 124.27734375, 135.17578125, 28.740234375, -7.91015625, -19.248046875, 30.585107803344727 ]
2.533333
76
0
76
0
[ 21.708984375, 117.7734375, 117.24609375, 34.892578125, 12.568359375, -15.380859375, 20.83832359313965, -19.951171875, 121.81640625, 129.0234375, 27.861328125, -8.349609375, -17.490234375, 32.484073638916016 ]
[ 20.302734375, 117.94921875, 120.498046875, 35.595703125, 11.07421875, -14.501953125, 19.325841903686523, -17.05078125, 123.3984375, 135, 28.740234375, -7.822265625, -18.6328125, 30.585107803344727 ]
2.566667
77
0
77
0
[ 21.708984375, 117.7734375, 117.333984375, 34.892578125, 12.568359375, -15.380859375, 20.83832359313965, -19.951171875, 120.41015625, 128.14453125, 27.861328125, -8.26171875, -16.69921875, 32.696388244628906 ]
[ 20.654296875, 117.509765625, 120.498046875, 35.5078125, 11.07421875, -14.501953125, 19.325841903686523, -17.9296875, 122.080078125, 134.560546875, 28.740234375, -7.822265625, -18.28125, 30.585107803344727 ]
2.6
78
0
78
0
[ 21.62109375, 118.125, 117.421875, 34.892578125, 12.568359375, -15.380859375, 20.83832359313965, -19.951171875, 118.828125, 126.9140625, 27.861328125, -7.646484375, -16.259765625, 33.014862060546875 ]
[ 20.7421875, 116.806640625, 120.498046875, 35.5078125, 11.07421875, -14.501953125, 19.325841903686523, -18.28125, 120.673828125, 134.12109375, 28.740234375, -7.822265625, -17.578125, 30.585107803344727 ]
2.633333
79
0
79
0
[ 21.4453125, 118.740234375, 117.421875, 34.892578125, 12.568359375, -15.380859375, 20.83832359313965, -19.951171875, 117.421875, 125.5078125, 27.861328125, -7.294921875, -16.259765625, 33.227176666259766 ]
[ 20.7421875, 116.71875, 120.498046875, 35.5078125, 11.07421875, -14.501953125, 19.325841903686523, -18.369140625, 119.267578125, 133.505859375, 28.740234375, -7.646484375, -16.962890625, 30.851062774658203 ]
2.666667
80
0
80
0
[ 21.26953125, 119.53125, 117.421875, 34.892578125, 12.48046875, -15.380859375, 20.83832359313965, -19.951171875, 116.103515625, 124.1015625, 27.861328125, -7.20703125, -16.259765625, 33.227176666259766 ]
[ 20.7421875, 116.71875, 120.498046875, 35.5078125, 11.07421875, -14.501953125, 19.325841903686523, -18.369140625, 117.685546875, 132.36328125, 28.740234375, -7.55859375, -16.611328125, 31.648937225341797 ]
2.7
81
0
81
0
[ 21.26953125, 120.322265625, 117.421875, 34.892578125, 12.48046875, -15.380859375, 20.83832359313965, -19.951171875, 114.78515625, 122.6953125, 27.861328125, -7.20703125, -15.99609375, 33.227176666259766 ]
[ 20.654296875, 116.71875, 120.498046875, 35.5078125, 11.07421875, -14.501953125, 19.325841903686523, -18.28125, 116.279296875, 131.484375, 28.740234375, -7.470703125, -16.435546875, 31.648937225341797 ]
2.733333
82
0
82
0
[ 21.181640625, 121.201171875, 117.509765625, 34.892578125, 12.48046875, -15.1171875, 20.83832359313965, -20.126953125, 113.291015625, 121.201171875, 27.861328125, -7.20703125, -15.46875, 33.12102127075195 ]
[ 20.56640625, 116.806640625, 120.498046875, 35.5078125, 11.07421875, -14.501953125, 19.325841903686523, -18.28125, 115.048828125, 130.4296875, 28.740234375, -7.470703125, -16.171875, 31.648937225341797 ]
2.766667
83
0
83
0
[ 21.181640625, 122.34375, 117.94921875, 34.892578125, 12.48046875, -14.765625, 20.83832359313965, -20.302734375, 111.533203125, 119.619140625, 27.861328125, -7.20703125, -14.94140625, 33.014862060546875 ]
[ 20.56640625, 116.89453125, 120.498046875, 35.5078125, 11.07421875, -14.501953125, 19.325841903686523, -18.544921875, 113.5546875, 129.111328125, 28.740234375, -7.470703125, -15.556640625, 31.648937225341797 ]
2.8
84
0
84
0
[ 21.181640625, 123.486328125, 118.4765625, 34.892578125, 12.216796875, -14.677734375, 20.83832359313965, -20.478515625, 109.86328125, 118.212890625, 27.861328125, -7.119140625, -14.4140625, 33.014862060546875 ]
[ 20.654296875, 117.24609375, 120.498046875, 35.5078125, 11.07421875, -14.501953125, 19.325841903686523, -18.80859375, 111.97265625, 127.79296875, 28.740234375, -7.3828125, -15.29296875, 31.648937225341797 ]
2.833333
85
0
85
0
[ 21.181640625, 124.27734375, 118.916015625, 34.892578125, 12.041015625, -14.58984375, 20.958084106445312, -20.56640625, 108.193359375, 116.89453125, 27.861328125, -7.20703125, -13.974609375, 33.227176666259766 ]
[ 20.654296875, 117.685546875, 120.498046875, 35.5078125, 11.07421875, -14.23828125, 19.325841903686523, -18.896484375, 110.126953125, 126.2109375, 28.740234375, -7.294921875, -14.677734375, 31.648937225341797 ]
2.866667
86
0
86
0
[ 21.09375, 124.62890625, 119.267578125, 34.892578125, 12.041015625, -14.58984375, 21.077844619750977, -20.56640625, 106.787109375, 116.015625, 27.861328125, -7.20703125, -13.974609375, 33.333335876464844 ]
[ 20.7421875, 118.388671875, 120.498046875, 35.5078125, 11.07421875, -14.150390625, 19.325841903686523, -19.072265625, 108.544921875, 124.716796875, 28.740234375, -7.294921875, -14.4140625, 31.648937225341797 ]
2.9
87
0
87
0
[ 21.09375, 124.62890625, 119.794921875, 34.892578125, 12.041015625, -14.58984375, 21.43712615966797, -20.654296875, 105.732421875, 115.400390625, 27.861328125, -7.20703125, -13.88671875, 33.54564666748047 ]
[ 20.7421875, 119.1796875, 120.498046875, 35.5078125, 11.07421875, -14.150390625, 19.325841903686523, -19.16015625, 106.875, 123.3984375, 28.740234375, -7.294921875, -13.7109375, 31.648937225341797 ]
2.933333
88
0
88
0
[ 21.09375, 124.62890625, 120.41015625, 34.892578125, 12.041015625, -14.58984375, 21.916168212890625, -20.830078125, 104.94140625, 115.13671875, 27.861328125, -7.294921875, -13.798828125, 33.86412048339844 ]
[ 20.7421875, 119.619140625, 120.498046875, 35.5078125, 11.07421875, -14.150390625, 19.775279998779297, -19.16015625, 105.380859375, 122.34375, 28.740234375, -7.294921875, -13.447265625, 31.648937225341797 ]
2.966667
89
0
89
0
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3
90
0
90
0
[ 21.09375, 124.541015625, 122.16796875, 34.892578125, 12.041015625, -14.58984375, 22.75448989868164, -20.91796875, 104.58984375, 115.13671875, 27.861328125, -7.734375, -13.798828125, 34.81953048706055 ]
[ 20.7421875, 120.05859375, 120.9375, 35.5078125, 11.07421875, -14.150390625, 20.22471809387207, -19.16015625, 103.53515625, 121.201171875, 28.740234375, -7.294921875, -13.18359375, 31.648937225341797 ]
3.033333
91
0
91
0
[ 21.09375, 124.541015625, 122.958984375, 34.892578125, 12.041015625, -14.58984375, 22.874250411987305, -20.91796875, 104.58984375, 115.13671875, 27.861328125, -8.0859375, -13.7109375, 35.350318908691406 ]
[ 20.7421875, 120.146484375, 121.640625, 35.5078125, 11.07421875, -14.150390625, 20.674156188964844, -19.16015625, 103.271484375, 121.11328125, 28.740234375, -7.294921875, -13.18359375, 32.180850982666016 ]
3.066667
92
0
92
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[ 21.09375, 124.541015625, 123.662109375, 34.892578125, 12.041015625, -14.765625, 23.233531951904297, -20.91796875, 104.677734375, 115.048828125, 27.861328125, -8.349609375, -13.53515625, 35.881103515625 ]
[ 20.7421875, 120.234375, 122.431640625, 35.5078125, 11.07421875, -14.150390625, 20.674156188964844, -19.16015625, 103.271484375, 121.11328125, 28.740234375, -7.3828125, -13.18359375, 32.446807861328125 ]
3.1
93
0
93
0
[ 21.09375, 124.62890625, 124.365234375, 34.892578125, 12.041015625, -15.029296875, 23.353294372558594, -20.91796875, 104.677734375, 114.873046875, 27.861328125, -8.525390625, -13.447265625, 36.19957733154297 ]
[ 20.7421875, 120.234375, 122.87109375, 35.5078125, 11.07421875, -14.150390625, 20.898876190185547, -19.16015625, 103.271484375, 121.025390625, 28.740234375, -7.3828125, -13.18359375, 33.24468231201172 ]
3.133333
94
0
94
0
[ 21.09375, 124.62890625, 124.716796875, 34.892578125, 12.041015625, -15.29296875, 23.473054885864258, -20.91796875, 104.677734375, 114.873046875, 27.861328125, -8.876953125, -13.447265625, 36.62420654296875 ]
[ 20.7421875, 120.322265625, 123.662109375, 35.5078125, 11.07421875, -14.150390625, 21.797752380371094, -19.16015625, 103.271484375, 120.9375, 28.740234375, -7.470703125, -13.18359375, 33.51063537597656 ]
3.166667
95
0
95
0
[ 21.09375, 124.716796875, 124.892578125, 34.892578125, 12.041015625, -15.46875, 23.712575912475586, -20.91796875, 104.677734375, 114.873046875, 27.861328125, -8.96484375, -13.447265625, 37.47346115112305 ]
[ 20.7421875, 120.498046875, 124.365234375, 35.5078125, 11.07421875, -14.4140625, 22.022472381591797, -19.16015625, 103.271484375, 120.5859375, 28.740234375, -7.470703125, -13.18359375, 34.308509826660156 ]
3.2
96
0
96
0
[ 21.09375, 124.8046875, 124.892578125, 34.892578125, 12.041015625, -15.64453125, 23.95209503173828, -20.91796875, 104.58984375, 114.9609375, 27.861328125, -9.228515625, -13.447265625, 38.11040115356445 ]
[ 20.7421875, 120.498046875, 124.541015625, 35.5078125, 11.07421875, -14.501953125, 22.022472381591797, -19.16015625, 103.271484375, 120.322265625, 28.740234375, -7.470703125, -13.18359375, 34.574466705322266 ]
3.233333
97
0
97
0
[ 21.09375, 124.98046875, 124.892578125, 34.892578125, 12.041015625, -15.8203125, 24.19161605834961, -20.91796875, 104.58984375, 115.048828125, 27.861328125, -9.228515625, -13.447265625, 39.065818786621094 ]
[ 20.7421875, 120.498046875, 124.716796875, 35.5078125, 11.07421875, -14.501953125, 22.022472381591797, -19.16015625, 103.271484375, 119.970703125, 28.740234375, -7.822265625, -13.18359375, 35.37234115600586 ]
3.266667
98
0
98
0
[ 21.09375, 125.244140625, 124.892578125, 34.892578125, 12.041015625, -15.908203125, 24.431137084960938, -20.91796875, 104.501953125, 115.13671875, 27.861328125, -9.052734375, -13.623046875, 40.02123260498047 ]
[ 20.7421875, 120.5859375, 124.716796875, 35.5078125, 11.07421875, -14.501953125, 22.022472381591797, -19.16015625, 103.271484375, 119.794921875, 28.740234375, -7.998046875, -13.18359375, 36.17021179199219 ]
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": 5,
    "total_frames": 4470,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
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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": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_wrist_angle",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_wrist_angle",
                "right_gripper"
            ]
        },
        "observation.state": {
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            "names": [
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                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_wrist_angle",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_wrist_angle",
                "right_gripper"
            ]
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        "observation.images.front": {
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            "shape": [
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                640,
                3
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            "names": [
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        "observation.images.grippeer_left": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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