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observation.state
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action
list
timestamp
float32
0
18.5
frame_index
int64
0
185
episode_index
int64
0
8
index
int64
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1.45k
task_index
int64
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2.5
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25
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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
30
0
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3.1
31
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3.2
32
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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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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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39
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4
40
0
40
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4.1
41
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41
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4.2
42
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4.3
43
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4.4
44
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4.5
45
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4.6
46
0
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4.7
47
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4.8
48
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4.9
49
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5
50
0
50
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5.1
51
0
51
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5.2
52
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5.3
53
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5.4
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5.5
55
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55
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5.6
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56
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5.7
57
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5.8
58
0
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5.9
59
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6
60
0
60
0
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6.1
61
0
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6.2
62
0
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6.3
63
0
63
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6.4
64
0
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6.5
65
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6.6
66
0
66
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6.7
67
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6.8
68
0
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6.9
69
0
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7
70
0
70
0
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7.1
71
0
71
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7.2
72
0
72
0
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7.3
73
0
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0
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7.4
74
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7.5
75
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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
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[ -0.29882287979125977, 0.6394914388656616, 0.41133353114128113, -0.02571987174451351, 0.9207388162612915, 0.14744572341442108, 0.36033082008361816, -0.04521428421139717, 0.6419184803962708, 0.3440476953983307, 0.12935593724250793, -0.9851221442222595, 0.021816669031977654, 0.111019827425479...
8.4
84
0
84
0
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8.5
85
0
85
0
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8.6
86
0
86
0
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8.7
87
0
87
0
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8.8
88
0
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0
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8.9
89
0
89
0
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9
90
0
90
0
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9.1
91
0
91
0
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9.2
92
0
92
0
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9.3
93
0
93
0
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9.4
94
0
94
0
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9.5
95
0
95
0
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9.6
96
0
96
0
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9.7
97
0
97
0
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9.8
98
0
98
0
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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": "v2.1",
    "robot_type": null,
    "total_episodes": 9,
    "total_frames": 1449,
    "total_tasks": 1,
    "total_videos": 45,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:9"
    },
    "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": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                46
            ],
            "names": [
                "joint_pos_left_0",
                "joint_pos_left_1",
                "joint_pos_left_2",
                "joint_pos_left_3",
                "joint_pos_left_4",
                "joint_pos_left_5",
                "joint_pos_left_6",
                "joint_pos_right_0",
                "joint_pos_right_1",
                "joint_pos_right_2",
                "joint_pos_right_3",
                "joint_pos_right_4",
                "joint_pos_right_5",
                "joint_pos_right_6",
                "tcp_left_pos_x",
                "tcp_left_pos_y",
                "tcp_left_pos_z",
                "tcp_left_quat_x",
                "tcp_left_quat_y",
                "tcp_left_quat_z",
                "tcp_left_quat_w",
                "tcp_right_pos_x",
                "tcp_right_pos_y",
                "tcp_right_pos_z",
                "tcp_right_quat_x",
                "tcp_right_quat_y",
                "tcp_right_quat_z",
                "tcp_right_quat_w",
                "gripper_left_0",
                "gripper_left_1",
                "gripper_right_0",
                "gripper_right_1",
                "last_command_left_0",
                "last_command_left_1",
                "last_command_left_2",
                "last_command_left_3",
                "last_command_left_4",
                "last_command_left_5",
                "last_command_left_6",
                "last_command_right_0",
                "last_command_right_1",
                "last_command_right_2",
                "last_command_right_3",
                "last_command_right_4",
                "last_command_right_5",
                "last_command_right_6"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "tcp_left_x",
                "tcp_left_y",
                "tcp_left_z",
                "tcp_left_quat_x",
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}

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