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Datasets:
villekuosmanen
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biobject_top_shelf_remote

Tasks:
Robotics
Modalities:
Tabular
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Formats:
parquet
Size:
< 1K
Tags:
LeRobot
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observation.state
list
timestamp
float32
0
15.3
frame_index
int64
0
306
episode_index
int64
0
0
index
int64
0
306
task_index
int64
0
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2.6
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2.65
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2.7
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2.75
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2.8
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2.85
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57
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[ 1.7142857313156128, -103.07691955566406, 97.14286041259766, 72.30769348144531, -0.48351648449897766, 1.3556618690490723 ]
[ 0.7472527623176575, -102.76923370361328, 99.73626708984375, 72, -0.8351648449897766, 1.5394912958145142 ]
2.9
58
0
58
0
[ 2.153846263885498, -103.16483306884766, 97.14286041259766, 72.30769348144531, -0.48351648449897766, 1.3556618690490723 ]
[ 0.7472527623176575, -102.76923370361328, 99.73626708984375, 72.0879135131836, -0.8351648449897766, 1.5394912958145142 ]
2.95
59
0
59
0
[ 3.0329670906066895, -103.25274658203125, 97.23076629638672, 72.57142639160156, -1.0109890699386597, 1.0366826057434082 ]
[ 1.0109890699386597, -102.76923370361328, 99.73626708984375, 72.0879135131836, -0.8351648449897766, 1.5394912958145142 ]
3
60
0
60
0
[ 3.2087912559509277, -103.25274658203125, 97.23076629638672, 72.65933990478516, -1.0109890699386597, 0.8771929740905762 ]
[ 1.7142857313156128, -102.76923370361328, 99.73626708984375, 72.0879135131836, -0.8351648449897766, 1.5394912958145142 ]
3.05
61
0
61
0
[ 3.0329670906066895, -103.34066009521484, 97.23076629638672, 72.3956069946289, -1.0989011526107788, 0.9569377899169922 ]
[ 2.065934181213379, -102.85713958740234, 99.73626708984375, 72.17582702636719, -0.8351648449897766, 1.3386881351470947 ]
3.1
62
0
62
0
[ 2.4175825119018555, -103.25274658203125, 97.23076629638672, 72.04395294189453, -1.0989011526107788, 0.9569377899169922 ]
[ 2.9450550079345703, -102.85713958740234, 99.73626708984375, 72.43955993652344, -0.8351648449897766, 1.1378848552703857 ]
3.15
63
0
63
0
[ 0.6593406796455383, -103.16483306884766, 97.23076629638672, 72.04395294189453, -1.0989011526107788, 0.9569377899169922 ]
[ 2.5934066772460938, -102.85713958740234, 99.73626708984375, 72.43955993652344, -0.8351648449897766, 1.1378848552703857 ]
3.2
64
0
64
0
[ 0.3076923191547394, -102.72527313232422, 96.87911987304688, 71.95604705810547, -1.0989011526107788, 0.8771929740905762 ]
[ 2.5934066772460938, -102.85713958740234, 99.73626708984375, 72.43955993652344, -0.8351648449897766, 1.1378848552703857 ]
3.25
65
0
65
0
[ 2.153846263885498, -102.46154022216797, 93.62637329101562, 71.78022003173828, -1.0989011526107788, 1.2759170532226562 ]
[ 1.9780219793319702, -102.85713958740234, 99.73626708984375, 72.43955993652344, -0.8351648449897766, 1.1378848552703857 ]
3.3
66
0
66
0
[ 2.769230842590332, -101.84615325927734, 90.72527313232422, 71.25274658203125, -1.0989011526107788, 1.3556618690490723 ]
[ 0.8351648449897766, -102.85713958740234, 99.64835357666016, 72.43955993652344, -0.48351648449897766, 1.0040160417556763 ]
3.35
67
0
67
0
[ 3.0329670906066895, -99.56044006347656, 86.5934066772461, 70.72527313232422, -0.7472527623176575, 1.4354066848754883 ]
[ 1.5384615659713745, -102.85713958740234, 98.85713958740234, 72.43955993652344, -0.9230769276618958, 1.0709505081176758 ]
3.4
68
0
68
0
[ 3.0329670906066895, -94.63735961914062, 80.17582702636719, 70.72527313232422, -0.48351648449897766, 1.4354066848754883 ]
[ 2.065934181213379, -102.5054931640625, 95.69230651855469, 72.17582702636719, -0.9230769276618958, 1.1378848552703857 ]
3.45
69
0
69
0
[ 2.681318759918213, -91.64835357666016, 76.92308044433594, 70.46154022216797, -0.8351648449897766, 1.4354066848754883 ]
[ 2.5934066772460938, -101.71428680419922, 92.70330047607422, 71.64835357666016, -0.9230769276618958, 1.1378848552703857 ]
3.5
70
0
70
0
[ 1.890109896659851, -86.72527313232422, 71.82417297363281, 69.23076629638672, -1.0109890699386597, 1.4354066848754883 ]
[ 2.769230842590332, -100.04395294189453, 89.45054626464844, 71.56044006347656, -0.9230769276618958, 1.1378848552703857 ]
3.55
71
0
71
0
[ 1.274725317955017, -81.53845977783203, 66.9011001586914, 68.0879135131836, -1.0109890699386597, 1.4354066848754883 ]
[ 2.5934066772460938, -96.0879135131836, 84.43955993652344, 71.29669952392578, -0.9230769276618958, 1.1378848552703857 ]
3.6
72
0
72
0
[ 0.04395604506134987, -76.17582702636719, 61.89011001586914, 66.68132019042969, -0.5714285969734192, 1.4354066848754883 ]
[ 2.153846263885498, -92.13186645507812, 79.6043930053711, 70.4175796508789, -0.9230769276618958, 1.1378848552703857 ]
3.65
73
0
73
0
[ -1.4505494832992554, -70.46154022216797, 56.70329666137695, 65.71428680419922, -0.5714285969734192, 1.6746411323547363 ]
[ 1.7142857313156128, -87.29669952392578, 74.68132019042969, 69.45054626464844, -0.9230769276618958, 1.1378848552703857 ]
3.7
74
0
74
0
[ -3.1208791732788086, -64.3956069946289, 51.868133544921875, 65.45054626464844, -1.186813235282898, 4.306220054626465 ]
[ 1.0989011526107788, -82.72527313232422, 69.84615325927734, 68.30769348144531, -0.9230769276618958, 1.1378848552703857 ]
3.75
75
0
75
0
[ -5.142857074737549, -55.42856979370117, 45.978023529052734, 65.53845977783203, -1.7142857313156128, 10.845294952392578 ]
[ -0.3076923191547394, -76.92308044433594, 64.3956069946289, 67.16483306884766, -0.9230769276618958, 1.2717536687850952 ]
3.8
76
0
76
0
[ -6.109889984130859, -48.74725341796875, 41.758243560791016, 65.27472686767578, -4, 15.151515007019043 ]
[ -1.5384615659713745, -71.73626708984375, 59.736263275146484, 66.72527313232422, -1.0109890699386597, 2.3427040576934814 ]
3.85
77
0
77
0
[ -6.549450397491455, -44.61538314819336, 38.68132019042969, 65.27472686767578, -5.5824174880981445, 16.74641227722168 ]
[ -3.0329670906066895, -66.28571319580078, 55.16483688354492, 66.54945373535156, -1.186813235282898, 4.551539421081543 ]
3.9
78
0
78
0
[ -7.4285712242126465, -38.63736343383789, 34.28571319580078, 65.27472686767578, -7.164834976196289, 17.942583084106445 ]
[ -4.9670329093933105, -58.989009857177734, 49.80219650268555, 66.19779968261719, -2.065934181213379, 8.969210624694824 ]
3.95
79
0
79
0
[ -8.835165023803711, -32.92307662963867, 29.626373291015625, 65.27472686767578, -7.780219554901123, 18.500797271728516 ]
[ -5.670329570770264, -52.30769348144531, 45.31867980957031, 66.19779968261719, -3.912087917327881, 12.650602340698242 ]
4
80
0
80
0
[ -11.032966613769531, -26.41758155822754, 24.175825119018555, 65.27472686767578, -7.868131637573242, 18.580541610717773 ]
[ -6.285714149475098, -45.80219650268555, 41.4505500793457, 66.19779968261719, -5.934065818786621, 15.52878189086914 ]
4.05
81
0
81
0
[ -12.879120826721191, -22.285715103149414, 20.483516693115234, 65.27472686767578, -8.307692527770996, 18.660287857055664 ]
[ -7.340659141540527, -40.35165023803711, 37.4945068359375, 66.19779968261719, -6.725274562835693, 16.800535202026367 ]
4.1
82
0
82
0
[ -14.021978378295898, -19.736263275146484, 18.285715103149414, 65.27472686767578, -9.538461685180664, 18.660287857055664 ]
[ -8.747252464294434, -35.16483688354492, 33.626373291015625, 66.19779968261719, -6.901098728179932, 17.536813735961914 ]
4.15
83
0
83
0
[ -15.692307472229004, -16.483516693115234, 15.120879173278809, 65.62637329101562, -11.560439109802246, 18.660287857055664 ]
[ -10.505494117736816, -29.36263656616211, 28.791208267211914, 66.19779968261719, -7.956043720245361, 17.93842124938965 ]
4.2
84
0
84
0
[ -17.36263656616211, -13.758241653442383, 12.659340858459473, 65.71428680419922, -13.05494499206543, 18.660287857055664 ]
[ -12.351648330688477, -24.08791160583496, 24.483516693115234, 66.19779968261719, -8.659340858459473, 18.206157684326172 ]
4.25
85
0
85
0
[ -19.296703338623047, -11.472527503967285, 10.813186645507812, 65.71428680419922, -13.670330047607422, 18.740032196044922 ]
[ -14.197802543640137, -19.956043243408203, 21.230770111083984, 66.19779968261719, -9.802197456359863, 18.34002685546875 ]
4.3
86
0
86
0
[ -21.318681716918945, -9.802197456359863, 9.670330047607422, 65.80220031738281, -14.373626708984375, 18.740032196044922 ]
[ -15.428571701049805, -16.615385055541992, 18.329669952392578, 66.19779968261719, -11.20879077911377, 18.40696144104004 ]
4.35
87
0
87
0
[ -23.16483497619629, -9.01098918914795, 9.142857551574707, 65.80220031738281, -15.604395866394043, 18.740032196044922 ]
[ -17.186813354492188, -13.450549125671387, 15.516483306884766, 66.19779968261719, -12.351648330688477, 18.40696144104004 ]
4.4
88
0
88
0
[ -24.923076629638672, -8.747252464294434, 9.142857551574707, 65.80220031738281, -17.186813354492188, 18.740032196044922 ]
[ -19.296703338623047, -11.164834976196289, 13.84615421295166, 66.19779968261719, -13.230769157409668, 18.40696144104004 ]
4.45
89
0
89
0
[ -26.505495071411133, -8.395604133605957, 9.406593322753906, 65.89010620117188, -18.505495071411133, 18.740032196044922 ]
[ -21.494504928588867, -9.494505882263184, 12.79120922088623, 66.19779968261719, -14.285714149475098, 18.40696144104004 ]
4.5
90
0
90
0
[ -28.175825119018555, -8.219779968261719, 9.582417488098145, 66.32967376708984, -19.648351669311523, 18.740032196044922 ]
[ -23.16483497619629, -8.879120826721191, 12.439560890197754, 66.19779968261719, -15.516483306884766, 18.40696144104004 ]
4.55
91
0
91
0
[ -29.58241844177246, -8.131868362426758, 9.670330047607422, 67.29669952392578, -20.791208267211914, 18.740032196044922 ]
[ -24.483516693115234, -8.527472496032715, 12.263736724853516, 66.19779968261719, -16.83516502380371, 18.40696144104004 ]
4.6
92
0
92
0
[ -30.989011764526367, -8.131868362426758, 9.84615421295166, 68.0879135131836, -22.373626708984375, 18.740032196044922 ]
[ -26.065933227539062, -8.087912559509277, 12.263736724853516, 66.19779968261719, -18.065933227539062, 18.40696144104004 ]
4.65
93
0
93
0
[ -32.21977996826172, -8.131868362426758, 10.725275039672852, 68.26373291015625, -24.131868362426758, 18.740032196044922 ]
[ -27.91208839416504, -8, 12.263736724853516, 66.72527313232422, -19.208791732788086, 18.40696144104004 ]
4.7
94
0
94
0
[ -33.978023529052734, -8.131868362426758, 13.01098918914795, 67.9120864868164, -26.329669952392578, 18.740032196044922 ]
[ -29.670330047607422, -8, 12.263736724853516, 67.42857360839844, -20.52747344970703, 18.40696144104004 ]
4.75
95
0
95
0
[ -34.85714340209961, -8.131868362426758, 14.241758346557617, 67.64835357666016, -27.208791732788086, 18.740032196044922 ]
[ -30.989011764526367, -8, 12.263736724853516, 67.78022003173828, -22.19780158996582, 18.40696144104004 ]
4.8
96
0
96
0
[ -35.82417678833008, -8.131868362426758, 15.736263275146484, 67.47252655029297, -28.439559936523438, 18.740032196044922 ]
[ -31.956043243408203, -8, 12.615385055541992, 67.86813354492188, -23.516483306884766, 18.40696144104004 ]
4.85
97
0
97
0
[ -36.61538314819336, -8.131868362426758, 16.96703338623047, 67.03296661376953, -29.934066772460938, 18.740032196044922 ]
[ -33.18681335449219, -8.087912559509277, 14.10988998413086, 67.86813354492188, -25.27472496032715, 18.40696144104004 ]
4.9
98
0
98
0
[ -36.79121017456055, -8.131868362426758, 18.549449920654297, 66.06593322753906, -31.16483497619629, 18.740032196044922 ]
[ -34.68132019042969, -7.912087917327881, 15.604395866394043, 67.86813354492188, -26.505495071411133, 18.40696144104004 ]
4.95
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": "so-101",
    "total_episodes": 1,
    "total_frames": 307,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:1"
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    "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": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
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        "observation.state": {
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            "names": [
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                "elbow_flex.pos",
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        "observation.images.front": {
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        "observation.images.wrist": {
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        "timestamp": {
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        "frame_index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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