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observation.state
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float32
0
23.2
frame_index
int64
0
232
episode_index
int64
0
149
index
int64
0
25.1k
task_index
int64
0
0
[ 0.5456106066703796, -0.0027286966796964407, 0.3358578681945801, 0.997593343257904, 0.004995012190192938, -0.06915632635354996, 0.005742120090872049, -0.9999272227287292, 0.010608606040477753, 0 ]
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0.3
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0.6
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0.7
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0.8
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0.9
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1
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1.1
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1.2
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1.3
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1.4
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1.5
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1.6
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1.7
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1.8
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1.9
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2
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2.1
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2.2
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2.3
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2.4
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2.5
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2.6
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2.7
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2.8
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2.9
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3
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3.1
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3.2
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3.3
33
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3.4
34
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3.5
35
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35
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3.6
36
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3.7
37
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3.8
38
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3.9
39
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4
40
0
40
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4.1
41
0
41
0
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4.2
42
0
42
0
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4.3
43
0
43
0
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4.4
44
0
44
0
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4.5
45
0
45
0
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4.6
46
0
46
0
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4.7
47
0
47
0
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4.8
48
0
48
0
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4.9
49
0
49
0
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5
50
0
50
0
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5.1
51
0
51
0
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5.2
52
0
52
0
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5.3
53
0
53
0
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5.4
54
0
54
0
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5.5
55
0
55
0
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5.6
56
0
56
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5.7
57
0
57
0
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5.8
58
0
58
0
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5.9
59
0
59
0
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6
60
0
60
0
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6.1
61
0
61
0
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6.2
62
0
62
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6.3
63
0
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0
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6.4
64
0
64
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6.5
65
0
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0
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6.6
66
0
66
0
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6.7
67
0
67
0
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6.8
68
0
68
0
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6.9
69
0
69
0
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7
70
0
70
0
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7.1
71
0
71
0
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7.2
72
0
72
0
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7.3
73
0
73
0
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7.4
74
0
74
0
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7.5
75
0
75
0
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7.6
76
0
76
0
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7.7
77
0
77
0
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7.8
78
0
78
0
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7.9
79
0
79
0
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8
80
0
80
0
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8.1
81
0
81
0
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8.2
82
0
82
0
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8.3
83
0
83
0
[ 0.6075316071510315, -0.10944107919931412, 0.2478574812412262, 0.836493968963623, -0.5429633259773254, -0.07395076751708984, -0.5425233840942383, -0.8395848870277405, 0.027670567855238914, 0.9809520244598389 ]
[ 0.6151564121246338, -0.1138470470905304, 0.236140176653862, 2.982292652130127, -0.9279178380966187, -0.11143789440393448, 0.03332599252462387 ]
8.4
84
0
84
0
[ 0.6088616251945496, -0.10725137591362, 0.2505904734134674, 0.8432796001434326, -0.533113956451416, -0.06833053380250931, -0.5324252843856812, -0.8459646105766296, 0.029447713866829872, 0.9985349774360657 ]
[ 0.6134416460990906, -0.1147865355014801, 0.23591914772987366, 2.9847207069396973, -0.924100399017334, -0.11462666839361191, 0.024339206516742706 ]
8.5
85
0
85
0
[ 0.6103816032409668, -0.10420867800712585, 0.2537034749984741, 0.8498992919921875, -0.522735059261322, -0.06647735834121704, -0.5222344994544983, -0.8524028658866882, 0.02608591504395008, 1 ]
[ 0.6130226254463196, -0.11411122232675552, 0.2368045598268509, 2.9890177249908447, -0.9152061939239502, -0.11379958689212799, 0.024339206516742706 ]
8.6
86
0
86
0
[ 0.6111826300621033, -0.09650757908821106, 0.2632024884223938, 0.8634057641029358, -0.4999113380908966, -0.06796443462371826, -0.5007258057594299, -0.8655871748924255, 0.0056989965960383415, 1 ]
[ 0.6130908727645874, -0.11233234405517578, 0.23661240935325623, 2.992799758911133, -0.9057744145393372, -0.11484161764383316, 0.024339206516742706 ]
8.7
87
0
87
0
[ 0.6095955967903137, -0.08497237414121628, 0.27922746539115906, 0.8813702464103699, -0.46723824739456177, -0.0698203518986702, -0.4680021107196808, -0.8837069869041443, 0.005995192099362612, 1 ]
[ 0.6132639050483704, -0.10997650027275085, 0.23698744177818298, 2.9921011924743652, -0.8873936533927917, -0.11357524991035461, 0.024339206516742706 ]
8.8
88
0
88
0
[ 0.6053265929222107, -0.06830357760190964, 0.2992289662361145, 0.9036855697631836, -0.4240562617778778, -0.05940284579992294, -0.42322346568107605, -0.9056351780891418, 0.026586666703224182, 1 ]
[ 0.6137504577636719, -0.10376490652561188, 0.23983968794345856, 2.9998819828033447, -0.8563186526298523, -0.11292651295661926, 0.024339206516742706 ]
8.9
89
0
89
0
[ 0.5996115803718567, -0.050831377506256104, 0.3179267644882202, 0.9252154231071472, -0.3751683831214905, -0.05678950250148773, -0.37241584062576294, -0.9265234470367432, 0.05348561331629753, 1 ]
[ 0.6118678450584412, -0.09181271493434906, 0.24815846979618073, 3.0209405422210693, -0.8069837689399719, -0.12298213690519333, 0.024339206516742706 ]
9
90
0
90
0
[ 0.5912985801696777, -0.031795576214790344, 0.3285539746284485, 0.9417712092399597, -0.319620817899704, -0.10444865375757217, -0.31347236037254333, -0.9469238519668579, 0.07120571285486221, 1 ]
[ 0.6087620258331299, -0.07510506361722946, 0.2616484463214874, -3.0479979515075684, 0.7391514778137207, 0.13543888926506042, 0.024339206516742706 ]
9.1
91
0
91
0
[ 0.5840796232223511, -0.01784997619688511, 0.33410748839378357, 0.9544121623039246, -0.2724159061908722, -0.12201248854398727, -0.2610582113265991, -0.9599928855895996, 0.10130280256271362, 1 ]
[ 0.6045324206352234, -0.056008949875831604, 0.27812066674232483, -3.0506491661071777, 0.6537639498710632, 0.15611514449119568, 0.024339206516742706 ]
9.2
92
0
92
0
[ 0.5768275856971741, -0.005085056647658348, 0.3412649631500244, 0.9648775458335876, -0.2296430915594101, -0.12757499516010284, -0.2122686356306076, -0.9676464200019836, 0.13639087975025177, 1 ]
[ 0.5996976494789124, -0.03500274196267128, 0.2935517430305481, -3.0399625301361084, 0.562539279460907, 0.1762574166059494, 0.024339206516742706 ]
9.3
93
0
93
0
[ 0.5683225989341736, 0.0062138233333826065, 0.34701138734817505, 0.9704055190086365, -0.19632495939731598, -0.14060457050800323, -0.1717832386493683, -0.9704529643058777, 0.16944490373134613, 1 ]
[ 0.5943293571472168, -0.016240280121564865, 0.30649542808532715, -3.0195424556732178, 0.4785345792770386, 0.19165386259555817, 0.024339206516742706 ]
9.4
94
0
94
0
[ 0.5550876259803772, 0.016976922750473022, 0.349942684173584, 0.9707524180412292, -0.17478646337985992, -0.16458861529827118, -0.13888294994831085, -0.9680312275886536, 0.20887097716331482, 1 ]
[ 0.5883030891418457, -0.0013318918645381927, 0.3177270293235779, -2.993429183959961, 0.40674421191215515, 0.20434163510799408, 0.024339206516742706 ]
9.5
95
0
95
0
[ 0.5401766300201416, 0.028775323182344437, 0.3513742685317993, 0.9684922695159912, -0.15319888293743134, -0.1963488757610321, -0.10178138315677643, -0.9630454182624817, 0.249367356300354, 1 ]
[ 0.5805685520172119, 0.01006785873323679, 0.3267093896865845, -2.9620866775512695, 0.351507306098938, 0.22017209231853485, 0.024339206516742706 ]
9.6
96
0
96
0
[ 0.5235636234283447, 0.0412566214799881, 0.35207056999206543, 0.9674768447875977, -0.12772656977176666, -0.2183448225259781, -0.06533802300691605, -0.9600492715835571, 0.27209609746932983, 1 ]
[ 0.5704653859138489, 0.01989239826798439, 0.3332168459892273, -2.925130605697632, 0.3054712414741516, 0.24458743631839752, 0.024339206516742706 ]
9.7
97
0
97
0
[ 0.5082846283912659, 0.05322602391242981, 0.35215678811073303, 0.9638527631759644, -0.10147412121295929, -0.24635525047779083, -0.02201245166361332, -0.9518008828163147, 0.3059256672859192, 1 ]
[ 0.5580613017082214, 0.028334299102425575, 0.3370392918586731, -2.894089698791504, 0.2649390697479248, 0.27073606848716736, 0.024339206516742706 ]
9.8
98
0
98
0
[ 0.4953156113624573, 0.06545872241258621, 0.3518233895301819, 0.9591000080108643, -0.07357534766197205, -0.2733383774757385, 0.02310563623905182, -0.9420588612556458, 0.3346508741378784, 1 ]
[ 0.5439436435699463, 0.03793615102767944, 0.3392108082771301, -2.8605782985687256, 0.22110363841056824, 0.30221012234687805, 0.024339206516742706 ]
9.9
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "custom_manipulator",
    "total_episodes": 150,
    "total_frames": 25137,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 10,
    "splits": {
        "train": "0:150"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "position.x",
                "position.y",
                "position.z",
                "orientation_6d.0",
                "orientation_6d.1",
                "orientation_6d.2",
                "orientation_6d.3",
                "orientation_6d.4",
                "orientation_6d.5",
                "gripper"
            ],
            "shape": [
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        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "position.x",
                "position.y",
                "position.z",
                "orientation.x",
                "orientation.y",
                "orientation.z",
                "gripper"
            ],
            "shape": [
                7
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        },
        "observation.images.wrist_rgb": {
            "dtype": "video",
            "shape": [
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                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.left_rgb": {
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            "shape": [
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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                1
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        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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