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sequence
observation.state
sequence
timestamp
float32
0
15.1
frame_index
int64
0
452
episode_index
int64
0
0
index
int64
0
452
task_index
int64
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0
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[ -39.814453125, 115.224609375, 116.982421875, 72.861328125, 2.197265625, 1.3799448013305664 ]
2.433333
73
0
73
0
[ -40.869140625, 114.169921875, 115.83984375, 73.212890625, 2.900390625, 1.766784429550171 ]
[ -39.7265625, 114.873046875, 116.89453125, 72.861328125, 2.197265625, 1.3799448013305664 ]
2.466667
74
0
74
0
[ -40.869140625, 113.90625, 115.83984375, 73.037109375, 2.900390625, 1.766784429550171 ]
[ -39.7265625, 114.2578125, 116.89453125, 72.861328125, 2.197265625, 1.3799448013305664 ]
2.5
75
0
75
0
[ -40.869140625, 113.642578125, 115.751953125, 73.037109375, 2.900390625, 1.766784429550171 ]
[ -39.7265625, 113.642578125, 116.89453125, 72.861328125, 2.197265625, 1.3799448013305664 ]
2.533333
76
0
76
0
[ -40.869140625, 113.5546875, 115.751953125, 73.037109375, 2.900390625, 1.766784429550171 ]
[ -39.7265625, 113.203125, 116.89453125, 72.861328125, 2.197265625, 1.3799448013305664 ]
2.566667
77
0
77
0
[ -40.869140625, 113.5546875, 115.751953125, 73.037109375, 2.900390625, 1.766784429550171 ]
[ -39.7265625, 113.115234375, 116.89453125, 72.861328125, 2.197265625, 1.3799448013305664 ]
2.6
78
0
78
0
[ -40.869140625, 113.5546875, 115.751953125, 73.037109375, 2.900390625, 1.766784429550171 ]
[ -39.7265625, 113.02734375, 116.89453125, 72.861328125, 2.197265625, 1.3799448013305664 ]
2.633333
79
0
79
0
[ -40.869140625, 113.5546875, 115.751953125, 73.037109375, 2.900390625, 1.766784429550171 ]
[ -39.7265625, 113.02734375, 116.89453125, 72.861328125, 2.197265625, 1.3799448013305664 ]
2.666667
80
0
80
0
[ -40.869140625, 113.466796875, 115.751953125, 73.037109375, 2.900390625, 1.766784429550171 ]
[ -39.7265625, 113.02734375, 116.89453125, 72.861328125, 2.197265625, 1.3799448013305664 ]
2.7
81
0
81
0
[ -40.869140625, 113.466796875, 115.751953125, 73.037109375, 2.98828125, 1.6784452199935913 ]
[ -39.7265625, 113.02734375, 116.89453125, 72.861328125, 2.197265625, 1.3799448013305664 ]
2.733333
82
0
82
0
[ -40.869140625, 113.466796875, 115.751953125, 73.037109375, 2.98828125, 1.6784452199935913 ]
[ -39.7265625, 113.02734375, 116.89453125, 72.861328125, 2.197265625, 1.3799448013305664 ]
2.766667
83
0
83
0
[ -40.869140625, 113.291015625, 115.751953125, 73.037109375, 2.98828125, 1.6784452199935913 ]
[ -39.7265625, 113.02734375, 116.89453125, 72.861328125, 2.197265625, 1.3799448013305664 ]
2.8
84
0
84
0
[ -40.869140625, 112.763671875, 115.751953125, 73.037109375, 2.98828125, 1.6784452199935913 ]
[ -39.7265625, 113.02734375, 116.89453125, 72.861328125, 2.197265625, 1.3799448013305664 ]
2.833333
85
0
85
0
[ -40.869140625, 111.884765625, 115.6640625, 73.037109375, 2.98828125, 1.6784452199935913 ]
[ -39.7265625, 112.67578125, 116.89453125, 72.861328125, 2.197265625, 1.3799448013305664 ]
2.866667
86
0
86
0
[ -40.869140625, 110.91796875, 115.224609375, 73.037109375, 2.98828125, 1.6784452199935913 ]
[ -39.7265625, 111.884765625, 116.89453125, 72.861328125, 2.197265625, 1.3799448013305664 ]
2.9
87
0
87
0
[ -40.869140625, 109.86328125, 114.169921875, 73.037109375, 2.98828125, 1.6784452199935913 ]
[ -39.7265625, 110.830078125, 116.89453125, 72.861328125, 2.197265625, 1.3799448013305664 ]
2.933333
88
0
88
0
[ -40.869140625, 108.896484375, 112.8515625, 73.037109375, 2.98828125, 1.6784452199935913 ]
[ -39.7265625, 109.6875, 116.89453125, 72.861328125, 2.197265625, 1.3799448013305664 ]
2.966667
89
0
89
0
[ -40.869140625, 107.841796875, 111.357421875, 73.037109375, 2.98828125, 1.6784452199935913 ]
[ -39.7265625, 108.720703125, 116.455078125, 72.861328125, 2.197265625, 1.3799448013305664 ]
3
90
0
90
0
[ -40.869140625, 106.69921875, 109.86328125, 73.037109375, 2.98828125, 1.6784452199935913 ]
[ -39.7265625, 107.841796875, 115.3125, 72.861328125, 2.197265625, 1.3799448013305664 ]
3.033333
91
0
91
0
[ -40.78125, 105.64453125, 108.369140625, 73.037109375, 2.900390625, 1.6784452199935913 ]
[ -39.7265625, 106.875, 113.994140625, 72.861328125, 2.197265625, 1.3799448013305664 ]
3.066667
92
0
92
0
[ -40.78125, 104.677734375, 106.962890625, 73.037109375, 2.900390625, 1.6784452199935913 ]
[ -39.7265625, 105.908203125, 112.67578125, 72.861328125, 2.197265625, 1.3799448013305664 ]
3.1
93
0
93
0
[ -40.78125, 103.798828125, 105.732421875, 73.037109375, 2.900390625, 1.6784452199935913 ]
[ -39.7265625, 104.765625, 111.357421875, 72.861328125, 2.197265625, 1.3799448013305664 ]
3.133333
94
0
94
0
[ -40.693359375, 103.0078125, 104.58984375, 73.037109375, 2.900390625, 1.6784452199935913 ]
[ -39.7265625, 103.7109375, 109.86328125, 72.861328125, 2.197265625, 1.3799448013305664 ]
3.166667
95
0
95
0
[ -40.166015625, 102.216796875, 103.447265625, 73.037109375, 2.900390625, 1.6784452199935913 ]
[ -39.7265625, 103.18359375, 108.369140625, 72.861328125, 2.197265625, 1.3799448013305664 ]
3.2
96
0
96
0
[ -39.990234375, 101.337890625, 102.48046875, 73.037109375, 2.900390625, 1.6784452199935913 ]
[ -39.7265625, 102.83203125, 107.138671875, 72.861328125, 2.197265625, 1.3799448013305664 ]
3.233333
97
0
97
0
[ -39.990234375, 100.37109375, 101.513671875, 72.94921875, 2.900390625, 1.6784452199935913 ]
[ -39.7265625, 101.865234375, 105.908203125, 72.861328125, 2.197265625, 1.3799448013305664 ]
3.266667
98
0
98
0
[ -39.90234375, 99.31640625, 100.37109375, 72.94921875, 2.900390625, 1.6784452199935913 ]
[ -39.7265625, 100.810546875, 104.853515625, 72.861328125, 2.197265625, 1.3799448013305664 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 1,
    "total_frames": 453,
    "total_tasks": 1,
    "total_videos": 3,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "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": {
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            "shape": [
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            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.camera0": {
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                "has_audio": false
            }
        },
        "observation.images.camera2": {
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            "shape": [
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            ],
            "names": [
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            ],
            "info": {
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                "video.height": 480,
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                "video.channels": 3,
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                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.camera4": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
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                "has_audio": false
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        },
        "timestamp": {
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            "shape": [
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            ],
            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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            "shape": [
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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