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observation.state
sequence
timestamp
float32
0
37.1
frame_index
int64
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1.11k
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2.5
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2.6
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2.666667
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2.7
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2.8
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2.9
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3
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3.1
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95
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[ -0.8238468170166016, -98.11520385742188, 98.17389678955078, 49.45223617553711, -5.07704496383667, 0.02015354484319687, 39.30577850341797, -3.3181228637695312, 10.904266357421875, 57.82501983642578, 41.04457092285156, 0.21361666917800903 ]
[ -2.2611231803894043, -98.18653106689453, 98.64865112304688, 50, -4.468864440917969, 0.3412969410419464, 36.656890869140625, -30.69908905029297, 36.7467155456543, 56.670745849609375, 47.838829040527344, 0.38109755516052246 ]
3.2
96
0
96
0
[ -0.4903993606567383, -97.83679962158203, 97.86497497558594, 49.5300178527832, -5.063188552856445, 0.020754288882017136, 39.50421142578125, 0.24713134765625, 8.639694213867188, 57.984771728515625, 39.28996658325195, 0.22035598754882812 ]
[ -1.9693654775619507, -98.18653106689453, 98.64865112304688, 50, -4.566544532775879, 0.3412969410419464, 37.53665542602539, -21.4068603515625, 29.587675094604492, 56.99714279174805, 45.93406677246094, 0.38109755516052246 ]
3.233333
97
0
97
0
[ -0.3225364685058594, -97.906005859375, 97.86588287353516, 49.560142517089844, -5.143197059631348, 0.019637644290924072, 39.888275146484375, 5.484474182128906, 4.855247497558594, 58.86388397216797, 37.44401550292969, 0.2343444526195526 ]
[ -1.677607536315918, -98.18653106689453, 98.64865112304688, 50, -4.664224624633789, 0.3412969410419464, 37.90322494506836, -16.369953155517578, 25.690982818603516, 57.07874298095703, 44.02930450439453, 0.38109755516052246 ]
3.266667
98
0
98
0
[ -0.23880863189697266, -97.82850646972656, 97.77167510986328, 49.55038833618164, -5.102621078491211, 0.020252402871847153, 39.74338150024414, 4.589210510253906, 5.657920837402344, 58.650665283203125, 37.19132614135742, 0.2312566637992859 ]
[ -1.4587892293930054, -98.18653106689453, 98.64865112304688, 50, -4.761904716491699, 0.3412969410419464, 38.26979446411133, -12.027790069580078, 22.972360610961914, 57.32353973388672, 43.5409049987793, 0.38109755516052246 ]
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": "dual_so100_follower",
    "total_episodes": 1,
    "total_frames": 1113,
    "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": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ]
        },
        "observation.images.left": {
            "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": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right": {
            "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": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.top": {
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            ],
            "names": [
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            ],
            "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": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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