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action
sequence
observation.state
sequence
timestamp
float32
0
29.5
frame_index
int64
0
737
episode_index
int64
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0
index
int64
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737
task_index
int64
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2.6
65
0
65
0
[ -21.26761817932129, 115.12987518310547, 111.44149780273438, 35.62180709838867, 14.564653396606445, 71.46519470214844 ]
[ -21.26953125, 116.806640625, 117.421875, 35.068359375, 10.107421875, 72.68244934082031 ]
2.64
66
0
66
0
[ -20.987937927246094, 114.04267120361328, 110.68829345703125, 36.1002311706543, 15.352693557739258, 70.98762512207031 ]
[ -21.357421875, 116.103515625, 116.806640625, 35.244140625, 11.162109375, 71.89349365234375 ]
2.68
67
0
67
0
[ -21.06206703186035, 114.13418579101562, 111.07502746582031, 35.82380676269531, 15.304380416870117, 70.97760009765625 ]
[ -21.357421875, 114.873046875, 115.927734375, 35.244140625, 12.83203125, 71.40039825439453 ]
2.72
68
0
68
0
[ -20.758089065551758, 112.71209716796875, 109.9339599609375, 36.301300048828125, 16.033422470092773, 70.38166046142578 ]
[ -21.09375, 113.73046875, 115.48828125, 35.5078125, 13.53515625, 70.80867767333984 ]
2.76
69
0
69
0
[ -20.759567260742188, 112.61428833007812, 109.95387268066406, 36.32065963745117, 16.381336212158203, 70.22052001953125 ]
[ -20.654296875, 113.115234375, 115.48828125, 35.595703125, 14.23828125, 70.41419982910156 ]
2.8
70
0
70
0
[ -20.660755157470703, 111.7482681274414, 109.30157470703125, 36.68891906738281, 16.62424087524414, 69.96832275390625 ]
[ -20.21484375, 112.236328125, 115.048828125, 35.859375, 14.94140625, 70.21696472167969 ]
2.84
71
0
71
0
[ -20.43980598449707, 110.7484359741211, 108.982421875, 36.505672454833984, 16.573843002319336, 69.4504623413086 ]
[ -20.126953125, 111.357421875, 114.43359375, 35.947265625, 15.380859375, 70.21696472167969 ]
2.88
72
0
72
0
[ -20.402639389038086, 110.39704132080078, 108.67845916748047, 36.78947830200195, 16.92209243774414, 69.37503051757812 ]
[ -20.126953125, 110.390625, 114.08203125, 35.947265625, 15.64453125, 69.625244140625 ]
2.92
73
0
73
0
[ -20.37019157409668, 110.35479736328125, 108.81997680664062, 36.513221740722656, 16.725753784179688, 69.33039093017578 ]
[ -20.126953125, 109.423828125, 113.466796875, 35.947265625, 15.732421875, 69.32939147949219 ]
2.96
74
0
74
0
[ -20.260351181030273, 109.37020874023438, 108.27938842773438, 36.57829284667969, 16.81026268005371, 68.97080993652344 ]
[ -20.21484375, 108.896484375, 113.115234375, 35.947265625, 15.732421875, 69.23076629638672 ]
3
75
0
75
0
[ -20.26226806640625, 109.35693359375, 108.47801971435547, 36.47343063354492, 17.076873779296875, 68.82521057128906 ]
[ -20.21484375, 108.80859375, 113.115234375, 35.947265625, 15.732421875, 69.23076629638672 ]
3.04
76
0
76
0
[ -20.065494537353516, 108.21790313720703, 107.81770324707031, 36.30363845825195, 16.614381790161133, 68.64207458496094 ]
[ -20.21484375, 108.544921875, 113.02734375, 35.947265625, 15.732421875, 68.83628845214844 ]
3.08
77
0
77
0
[ -19.953603744506836, 106.95044708251953, 107.06525421142578, 36.61166000366211, 16.523122787475586, 68.3291015625 ]
[ -20.21484375, 108.10546875, 112.939453125, 35.947265625, 15.99609375, 68.44181823730469 ]
3.12
78
0
78
0
[ -19.980228424072266, 107.646240234375, 107.62305450439453, 36.33810806274414, 16.700220108032227, 68.39185333251953 ]
[ -20.21484375, 107.314453125, 112.587890625, 35.947265625, 15.99609375, 68.34319305419922 ]
3.16
79
0
79
0
[ -19.78112030029297, 106.37042236328125, 107.13823699951172, 36.030399322509766, 16.391691207885742, 68.06986236572266 ]
[ -20.21484375, 106.171875, 112.1484375, 35.947265625, 15.99609375, 68.14595794677734 ]
3.2
80
0
80
0
[ -19.704463958740234, 105.69135284423828, 106.92784118652344, 35.781593322753906, 16.192398071289062, 67.80658721923828 ]
[ -19.86328125, 105.556640625, 111.796875, 35.947265625, 15.99609375, 68.14595794677734 ]
3.24
81
0
81
0
[ -19.677270889282227, 105.33978271484375, 106.62604522705078, 36.019344329833984, 16.139514923095703, 67.71846008300781 ]
[ -19.599609375, 105.1171875, 111.796875, 35.947265625, 15.99609375, 68.14595794677734 ]
3.28
82
0
82
0
[ -19.573745727539062, 104.5085220336914, 106.37503051757812, 35.65032958984375, 15.760152816772461, 67.58084869384766 ]
[ -19.072265625, 104.326171875, 111.26953125, 35.947265625, 15.99609375, 67.75148010253906 ]
3.32
83
0
83
0
[ -19.404773712158203, 103.36852264404297, 106.07170867919922, 35.30437088012695, 15.57267951965332, 67.17236328125 ]
[ -18.896484375, 103.88671875, 110.830078125, 36.03515625, 15.99609375, 67.35700225830078 ]
3.36
84
0
84
0
[ -19.316761016845703, 103.00221252441406, 105.94912719726562, 35.086795806884766, 15.134471893310547, 67.11157989501953 ]
[ -18.896484375, 103.095703125, 110.7421875, 36.03515625, 15.732421875, 67.25838470458984 ]
3.4
85
0
85
0
[ -19.15741729736328, 101.76726531982422, 105.4979019165039, 34.763153076171875, 14.4378662109375, 66.70175170898438 ]
[ -19.072265625, 102.3046875, 110.56640625, 36.03515625, 15.380859375, 67.15975952148438 ]
3.44
86
0
86
0
[ -19.05722427368164, 101.0965576171875, 105.38471221923828, 34.626708984375, 14.319725036621094, 66.41876983642578 ]
[ -19.248046875, 101.689453125, 110.21484375, 36.03515625, 15.205078125, 67.15975952148438 ]
3.48
87
0
87
0
[ -18.818727493286133, 100.01444244384766, 105.24980926513672, 34.509071350097656, 14.219511032104492, 65.87742614746094 ]
[ -19.3359375, 100.810546875, 110.0390625, 35.771484375, 14.677734375, 66.66666412353516 ]
3.52
88
0
88
0
[ -18.696001052856445, 99.49308013916016, 105.11773681640625, 34.029441833496094, 13.863361358642578, 65.59700012207031 ]
[ -19.3359375, 100.107421875, 109.6875, 35.419921875, 14.4140625, 66.37081146240234 ]
3.56
89
0
89
0
[ -18.69721221923828, 98.90103912353516, 104.93118286132812, 33.917911529541016, 13.728527069091797, 65.47538757324219 ]
[ -19.16015625, 99.140625, 109.599609375, 35.244140625, 14.23828125, 65.77909088134766 ]
3.6
90
0
90
0
[ -18.68802261352539, 98.48104858398438, 104.91654205322266, 34.00673294067383, 13.719802856445312, 65.17623138427734 ]
[ -18.80859375, 98.26171875, 109.51171875, 35.244140625, 13.7109375, 65.48323822021484 ]
3.64
91
0
91
0
[ -18.59907341003418, 97.95844268798828, 105.00860595703125, 33.89577102661133, 13.655925750732422, 64.95361328125 ]
[ -18.28125, 97.3828125, 109.3359375, 34.892578125, 13.359375, 65.28599548339844 ]
3.68
92
0
92
0
[ -18.545406341552734, 97.2343978881836, 104.63794708251953, 33.623924255371094, 13.504325866699219, 64.48480987548828 ]
[ -18.017578125, 96.6796875, 109.16015625, 34.892578125, 13.18359375, 65.28599548339844 ]
3.72
93
0
93
0
[ -18.55230712890625, 96.93577575683594, 104.43701171875, 33.85878372192383, 13.61703872680664, 64.0480728149414 ]
[ -17.841796875, 96.15234375, 109.072265625, 34.541015625, 13.095703125, 64.69428253173828 ]
3.76
94
0
94
0
[ -18.529766082763672, 96.55839538574219, 104.35807800292969, 33.51518630981445, 13.265424728393555, 64.2663345336914 ]
[ -17.841796875, 95.712890625, 108.80859375, 34.365234375, 13.095703125, 64.39842224121094 ]
3.8
95
0
95
0
[ -18.57025146484375, 96.33599090576172, 104.25987243652344, 33.66234588623047, 13.509071350097656, 63.613670349121094 ]
[ -18.017578125, 95.09765625, 108.6328125, 34.365234375, 13.095703125, 64.2998046875 ]
3.84
96
0
96
0
[ -18.561267852783203, 95.6153793334961, 104.0130844116211, 33.532161712646484, 13.273929595947266, 63.2598762512207 ]
[ -18.10546875, 94.74609375, 108.544921875, 34.365234375, 13.095703125, 64.1025619506836 ]
3.88
97
0
97
0
[ -18.59739875793457, 95.27842712402344, 103.65676879882812, 33.243316650390625, 13.252714157104492, 62.7631721496582 ]
[ -18.193359375, 94.5703125, 108.544921875, 34.27734375, 13.095703125, 63.609466552734375 ]
3.92
98
0
98
0
[ -18.56447982788086, 95.14134979248047, 103.74545288085938, 33.2812385559082, 13.17288589477539, 62.336185455322266 ]
[ -18.193359375, 94.04296875, 108.544921875, 34.27734375, 13.095703125, 63.214988708496094 ]
3.96
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": 738,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "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
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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.side": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
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            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.fps": 25.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
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        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

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