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sequence
observation.state
sequence
timestamp
float32
0
9.4
frame_index
int64
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282
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19
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73
0
[ 15.205078125, 124.98046875, 124.013671875, 73.828125, -91.93359375, 14.951626777648926 ]
[ 14.150390625, 128.671875, 123.92578125, 77.255859375, -79.189453125, 6.9843878746032715 ]
2.466667
74
0
74
0
[ 15.205078125, 124.453125, 125.15625, 72.59765625, -93.251953125, 16.88654327392578 ]
[ 14.4140625, 127.177734375, 124.013671875, 76.201171875, -83.671875, 9.531635284423828 ]
2.5
75
0
75
0
[ 15.029296875, 124.189453125, 126.474609375, 70.751953125, -93.427734375, 17.766050338745117 ]
[ 14.4140625, 126.123046875, 124.453125, 75.146484375, -86.923828125, 11.832374572753906 ]
2.533333
76
0
76
0
[ 14.765625, 124.013671875, 127.96875, 69.08203125, -93.603515625, 18.90941047668457 ]
[ 14.4140625, 125.15625, 125.33203125, 73.916015625, -89.6484375, 14.215283393859863 ]
2.566667
77
0
77
0
[ 14.4140625, 123.837890625, 129.462890625, 67.236328125, -93.515625, 19.964820861816406 ]
[ 14.58984375, 124.541015625, 126.38671875, 72.421875, -91.0546875, 15.694330215454102 ]
2.6
78
0
78
0
[ 13.974609375, 123.662109375, 131.1328125, 65.126953125, -92.900390625, 20.404573440551758 ]
[ 14.765625, 124.189453125, 127.529296875, 70.751953125, -91.93359375, 17.0090389251709 ]
2.633333
79
0
79
0
[ 13.7109375, 123.3984375, 132.5390625, 63.544921875, -92.63671875, 21.196130752563477 ]
[ 14.765625, 123.92578125, 128.84765625, 69.2578125, -92.373046875, 18.241579055786133 ]
2.666667
80
0
80
0
[ 13.271484375, 123.046875, 133.681640625, 62.138671875, -91.845703125, 22.33949089050293 ]
[ 14.677734375, 123.662109375, 129.814453125, 67.939453125, -92.548828125, 18.8989315032959 ]
2.7
81
0
81
0
[ 12.83203125, 122.607421875, 134.736328125, 60.732421875, -91.142578125, 22.427440643310547 ]
[ 14.23828125, 123.486328125, 131.484375, 65.91796875, -92.28515625, 19.802793502807617 ]
2.733333
82
0
82
0
[ 12.392578125, 122.080078125, 135.703125, 59.4140625, -90.703125, 22.515390396118164 ]
[ 13.623046875, 123.046875, 132.890625, 64.51171875, -92.4609375, 20.7888240814209 ]
2.766667
83
0
83
0
[ 11.865234375, 121.376953125, 136.40625, 58.271484375, -89.912109375, 22.603342056274414 ]
[ 13.18359375, 122.51953125, 134.033203125, 62.841796875, -91.40625, 21.364009857177734 ]
2.8
84
0
84
0
[ 11.42578125, 120.673828125, 136.93359375, 57.216796875, -89.12109375, 22.691293716430664 ]
[ 12.83203125, 122.16796875, 135.17578125, 61.435546875, -91.142578125, 21.774856567382812 ]
2.833333
85
0
85
0
[ 10.8984375, 119.794921875, 137.197265625, 55.986328125, -88.330078125, 22.8671932220459 ]
[ 12.568359375, 121.640625, 136.0546875, 60.1171875, -90.703125, 22.021364212036133 ]
2.866667
86
0
86
0
[ 10.37109375, 118.740234375, 137.28515625, 54.931640625, -87.36328125, 22.95514488220215 ]
[ 12.12890625, 120.9375, 136.669921875, 58.88671875, -89.912109375, 22.18570327758789 ]
2.9
87
0
87
0
[ 9.84375, 117.685546875, 137.28515625, 54.140625, -86.484375, 22.95514488220215 ]
[ 11.513671875, 120.146484375, 137.109375, 57.65625, -89.296875, 22.43221092224121 ]
2.933333
88
0
88
0
[ 9.228515625, 116.455078125, 137.197265625, 53.4375, -85.95703125, 23.0430965423584 ]
[ 10.458984375, 118.828125, 137.197265625, 55.986328125, -87.802734375, 22.596548080444336 ]
2.966667
89
0
89
0
[ 8.701171875, 115.48828125, 137.021484375, 52.822265625, -85.25390625, 23.0430965423584 ]
[ 10.1953125, 118.30078125, 137.28515625, 55.546875, -87.1875, 22.67871856689453 ]
3
90
0
90
0
[ 8.173828125, 114.521484375, 136.845703125, 52.119140625, -84.462890625, 23.0430965423584 ]
[ 9.931640625, 117.24609375, 137.28515625, 54.580078125, -87.099609375, 22.67871856689453 ]
3.033333
91
0
91
0
[ 7.55859375, 113.37890625, 136.494140625, 51.328125, -83.583984375, 22.95514488220215 ]
[ 9.66796875, 116.19140625, 137.28515625, 53.7890625, -85.693359375, 22.760887145996094 ]
3.066667
92
0
92
0
[ 7.03125, 112.5, 136.142578125, 51.064453125, -82.96875, 22.77924346923828 ]
[ 8.701171875, 114.697265625, 137.28515625, 52.822265625, -85.341796875, 22.760887145996094 ]
3.1
93
0
93
0
[ 6.591796875, 111.796875, 135.87890625, 51.064453125, -82.705078125, 22.515390396118164 ]
[ 7.998046875, 113.994140625, 137.28515625, 52.294921875, -84.55078125, 22.760887145996094 ]
3.133333
94
0
94
0
[ 6.240234375, 111.09375, 135.703125, 50.888671875, -82.529296875, 21.54793357849121 ]
[ 7.3828125, 113.115234375, 137.28515625, 51.85546875, -83.49609375, 22.760887145996094 ]
3.166667
95
0
95
0
[ 5.9765625, 110.56640625, 135.615234375, 50.80078125, -82.353515625, 20.580474853515625 ]
[ 6.943359375, 112.236328125, 137.28515625, 51.591796875, -83.3203125, 22.760887145996094 ]
3.2
96
0
96
0
[ 5.712890625, 110.126953125, 135.615234375, 50.80078125, -82.353515625, 19.437114715576172 ]
[ 6.85546875, 111.26953125, 137.28515625, 51.328125, -82.880859375, 21.857025146484375 ]
3.233333
97
0
97
0
[ 5.625, 109.775390625, 135.615234375, 50.712890625, -82.353515625, 18.29375457763672 ]
[ 6.767578125, 110.830078125, 137.28515625, 51.15234375, -82.705078125, 21.364009857177734 ]
3.266667
98
0
98
0
[ 5.625, 109.423828125, 135.703125, 50.712890625, -82.44140625, 17.766050338745117 ]
[ 6.416015625, 110.21484375, 137.28515625, 51.15234375, -82.529296875, 20.460147857666016 ]
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": 1,
    "total_frames": 235,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 60,
    "splits": {
        "train": "0:1"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.center_cam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                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": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_cam": {
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            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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