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observation.state
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float32
0
58.2
frame_index
int64
0
291
episode_index
int64
0
0
index
int64
0
291
task_index
int64
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[ 42.80736541748047, 19.553604125976562, -10.005741119384766, -2.9536244869232178, 15.860593795776367, 0.005775928497314453 ]
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3.8
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4.2
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4.6
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5.8
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6.4
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6.6
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6.8
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7
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7.2
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7.4
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7.6
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7.8
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8
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8.2
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8.4
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8.6
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8.8
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9
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9.2
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9.4
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9.6
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9.8
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10
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10.2
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10.4
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10.6
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10.8
54
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11
55
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11.2
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11.4
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57
0
[ 43.235530853271484, 23.61756134033203, -3.8580665588378906, -5.070975303649902, 27.346527099609375, 0.6091876029968262 ]
[ 43.61610794067383, 26.15252113342285, -2.8187918663024902, -5.299145221710205, 28.058609008789062, 0.950441300868988 ]
11.6
58
0
58
0
[ 43.211551666259766, 23.185958862304688, -4.251762390136719, -4.871389389038086, 27.10426902770996, 0.5926599502563477 ]
[ 43.61610794067383, 26.15252113342285, -2.8187918663024902, -5.25030517578125, 27.423686981201172, 0.950441300868988 ]
11.8
59
0
59
0
[ 43.12248229980469, 22.514007568359375, -4.778194427490234, -4.697288513183594, 26.377914428710938, 0.5178046226501465 ]
[ 43.61610794067383, 26.15252113342285, -2.8187918663024902, -4.9572649002075195, 27.130647659301758, 0.950441300868988 ]
12
60
0
60
0
[ 42.65959167480469, 22.103591918945312, -5.879100799560547, -4.201181411743164, 25.871774673461914, 0.5378384590148926 ]
[ 43.10197067260742, 25.807842254638672, -3.0872483253479004, -4.761904716491699, 26.44688606262207, 0.950441300868988 ]
12.2
61
0
61
0
[ 42.505638122558594, 21.165504455566406, -6.576499938964844, -3.8799233436584473, 25.41889190673828, 0.5185389518737793 ]
[ 42.67352294921875, 25.463163375854492, -4.250559329986572, -4.3223443031311035, 25.909645080566406, 0.950441300868988 ]
12.4
62
0
62
0
[ 41.885955810546875, 20.490402221679688, -7.463920593261719, -3.5075392723083496, 24.950191497802734, 0.5134649276733398 ]
[ 42.84490203857422, 24.515295028686523, -4.787472248077393, -4.029304027557373, 25.421245574951172, 0.950441300868988 ]
12.6
63
0
63
0
[ 41.779361724853516, 19.238037109375, -8.134880065917969, -3.1246986389160156, 24.064655303955078, 0.5569429397583008 ]
[ 41.4738655090332, 23.653596878051758, -5.861297607421875, -3.6385836601257324, 25.03052520751953, 0.950441300868988 ]
12.8
64
0
64
0
[ 41.536590576171875, 18.567859649658203, -8.756717681884766, -2.996161699295044, 23.647384643554688, 0.5402483940124512 ]
[ 42.073692321777344, 22.61956024169922, -6.308724880218506, -3.1990232467651367, 24.151403427124023, 0.950441300868988 ]
13
65
0
65
0
[ 40.49337387084961, 17.01681137084961, -10.048931121826172, -2.394131660461426, 23.102657318115234, 0.5249137878417969 ]
[ 41.55955505371094, 22.447221755981445, -7.024608612060547, -3.1990232467651367, 23.66300392150879, 0.950441300868988 ]
13.2
66
0
66
0
[ 40.360652923583984, 17.320968627929688, -10.473800659179688, -2.2676589488983154, 23.258377075195312, 0.5356030464172363 ]
[ 40.18851852416992, 20.120637893676758, -8.366889953613281, -2.5152626037597656, 23.174602508544922, 0.950441300868988 ]
13.4
67
0
67
0
[ 39.93830871582031, 15.504634857177734, -12.126823425292969, -1.6983797550201416, 22.757314682006836, 0.5246524810791016 ]
[ 40.78834533691406, 20.034467697143555, -8.366889953613281, -2.3199024200439453, 23.174602508544922, 0.950441300868988 ]
13.6
68
0
68
0
[ 39.24180603027344, 14.321464538574219, -12.728370666503906, -1.4088706970214844, 22.100830078125, 0.5005936622619629 ]
[ 39.93144989013672, 18.569581985473633, -10.425055503845215, -1.88034188747406, 22.78388214111328, 0.950441300868988 ]
13.8
69
0
69
0
[ 38.288360595703125, 12.900020599365234, -13.558303833007812, -0.9882798194885254, 21.722015380859375, 0.46867799758911133 ]
[ 39.07455062866211, 17.363204956054688, -10.514541625976562, -1.4407814741134644, 22.19780158996582, 0.950441300868988 ]
14
70
0
70
0
[ 37.28059387207031, 12.44832992553711, -14.78390121459961, -0.5651416778564453, 21.273160934448242, 0.4457588195800781 ]
[ 38.2176513671875, 16.070659637451172, -11.856822967529297, -0.8058608174324036, 21.80708122253418, 0.950441300868988 ]
14.2
71
0
71
0
[ 36.92041778564453, 11.735084533691406, -15.863140106201172, -0.3450179100036621, 21.197479248046875, 0.4362926483154297 ]
[ 37.360755920410156, 15.639810562133789, -12.572707176208496, -0.5616605877876282, 21.318681716918945, 0.950441300868988 ]
14.4
72
0
72
0
[ 35.739620208740234, 11.497150421142578, -17.416149139404297, 0.1041707992553711, 20.796833038330078, 0.42884206771850586 ]
[ 36.93230438232422, 15.12279224395752, -14.004474639892578, -0.41514042019844055, 21.318681716918945, 0.950441300868988 ]
14.6
73
0
73
0
[ 34.658241271972656, 10.672809600830078, -19.06922149658203, 0.5752630233764648, 20.383934020996094, 0.41904163360595703 ]
[ 35.47557830810547, 14.95045280456543, -15.615212440490723, 0.02442002482712269, 20.830280303955078, 0.950441300868988 ]
14.8
74
0
74
0
[ 33.8970947265625, 10.218555450439453, -19.78136444091797, 0.7521700859069824, 20.062053680419922, 0.41863107681274414 ]
[ 34.704368591308594, 13.744075775146484, -17.046979904174805, 0.5128205418586731, 20.439559936523438, 0.950441300868988 ]
15
75
0
75
0
[ 31.18393325805664, 8.863082885742188, -21.905277252197266, 1.428466796875, 19.38286781311035, 0.40743494033813477 ]
[ 33.933162689208984, 13.485566139221191, -17.673377990722656, 0.7081807255744934, 20.146520614624023, 0.950441300868988 ]
15.2
76
0
76
0
[ 30.584369659423828, 7.979774475097656, -22.314762115478516, 1.5250773429870605, 19.210338592529297, 0.40489959716796875 ]
[ 31.01970863342285, 11.84834098815918, -20.08948516845703, 1.3919414281845093, 19.462759017944336, 0.950441300868988 ]
15.4
77
0
77
0
[ 28.9827823638916, 8.157341003417969, -23.575077056884766, 1.7167243957519531, 18.360876083374023, 0.39469480514526367 ]
[ 30.848329544067383, 11.15898323059082, -20.178970336914062, 1.3919414281845093, 19.267398834228516, 0.950441300868988 ]
15.6
78
0
78
0
[ 27.987648010253906, 7.734218597412109, -24.462512969970703, 1.940042495727539, 18.408824920654297, 0.3973817825317383 ]
[ 28.706083297729492, 11.072813034057617, -21.700223922729492, 1.6361416578292847, 18.437118530273438, 0.950441300868988 ]
15.8
79
0
79
0
[ 26.1507568359375, 7.068794250488281, -25.510822296142578, 2.112812042236328, 17.843698501586914, 0.39098644256591797 ]
[ 27.93487548828125, 10.900473594665527, -22.505592346191406, 1.88034188747406, 18.437118530273438, 0.950441300868988 ]
16
80
0
80
0
[ 24.943361282348633, 6.6251983642578125, -26.48581314086914, 2.3824124336242676, 17.44953727722168, 0.39449405670166016 ]
[ 25.878320693969727, 9.866436958312988, -23.579418182373047, 2.026862144470215, 17.899877548217773, 0.950441300868988 ]
16.200001
81
0
81
0
[ 22.119314193725586, 6.210174560546875, -27.45151138305664, 2.5035171508789062, 17.01614761352539, 0.39514875411987305 ]
[ 24.935731887817383, 9.435587882995605, -24.653244018554688, 2.3199024200439453, 17.509157180786133, 0.950441300868988 ]
16.4
82
0
82
0
[ 21.254343032836914, 6.230312347412109, -28.450321197509766, 2.625575065612793, 16.61797523498535, 0.41272640228271484 ]
[ 21.850900650024414, 9.177079200744629, -25.4586124420166, 2.3199024200439453, 17.069597244262695, 0.950441300868988 ]
16.6
83
0
83
0
[ 18.395395278930664, 5.938224792480469, -29.709308624267578, 2.67404842376709, 15.700845718383789, 0.4225955009460449 ]
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16.799999
84
0
84
0
[ 16.195161819458008, 5.443504333496094, -30.757640838623047, 2.899468421936035, 15.306785583496094, 0.42822265625 ]
[ 18.080549240112305, 8.832399368286133, -27.695749282836914, 2.5641026496887207, 15.75091552734375, 0.950441300868988 ]
17
85
0
85
0
[ 15.394424438476562, 5.511421203613281, -32.01143264770508, 2.9491968154907227, 14.755044937133789, 0.4327816963195801 ]
[ 16.02399253845215, 8.401551246643066, -28.948545455932617, 2.808302879333496, 15.36019515991211, 0.950441300868988 ]
17.200001
86
0
86
0
[ 14.119976043701172, 5.579170227050781, -32.648250579833984, 3.0744543075561523, 14.516586303710938, 0.4527454376220703 ]
[ 15.681234359741211, 8.143041610717773, -30.20134162902832, 2.857142925262451, 14.774114608764648, 0.950441300868988 ]
17.4
87
0
87
0
[ 11.171943664550781, 4.602043151855469, -33.50053787231445, 3.287306785583496, 13.802268981933594, 0.47014713287353516 ]
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17.6
88
0
88
0
[ 8.893948554992676, 4.4084930419921875, -34.054500579833984, 3.451662063598633, 13.342594146728516, 0.46013593673706055 ]
[ 10.968295097351074, 7.022834777832031, -31.63311004638672, 3.247863292694092, 13.894993782043457, 0.950441300868988 ]
17.799999
89
0
89
0
[ 7.271093368530273, 4.043678283691406, -34.685726165771484, 3.5536680221557617, 13.02583122253418, 0.46885061264038086 ]
[ 8.56898021697998, 6.936665058135986, -32.080535888671875, 3.394383430480957, 13.406593322753906, 0.950441300868988 ]
18
90
0
90
0
[ 4.960784912109375, 4.073661804199219, -35.90359115600586, 3.9044809341430664, 12.759466171264648, 0.47969627380371094 ]
[ 7.02656364440918, 6.850495338439941, -32.79642105102539, 3.5409035682678223, 13.015872955322266, 0.950441300868988 ]
18.200001
91
0
91
0
[ 3.314157485961914, 4.074348449707031, -36.28133010864258, 4.081082344055176, 12.254854202270508, 0.4865880012512207 ]
[ 4.712939262390137, 6.591986179351807, -34.049217224121094, 3.882783889770508, 12.771673202514648, 0.950441300868988 ]
18.4
92
0
92
0
[ 1.768423080444336, 4.010181427001953, -36.204097747802734, 4.199308395385742, 11.808212280273438, 0.47123098373413086 ]
[ 3.0848329067230225, 6.591986179351807, -34.228187561035156, 4.029304027557373, 12.283272743225098, 0.950441300868988 ]
18.6
93
0
93
0
[ 0.5071868896484375, 3.6388015747070312, -36.49971389770508, 4.417572021484375, 11.708040237426758, 0.4674959182739258 ]
[ 1.5424164533615112, 6.591986179351807, -34.228187561035156, 4.224664211273193, 11.843711853027344, 0.950441300868988 ]
18.799999
94
0
94
0
[ -2.5127220153808594, 3.726055145263672, -37.60306930541992, 4.791754722595215, 11.255908966064453, 0.4535560607910156 ]
[ 0.34275922179222107, 6.591986179351807, -34.228187561035156, 4.224664211273193, 11.843711853027344, 0.950441300868988 ]
19
95
0
95
0
[ -3.634624481201172, 3.4562606811523438, -37.796016693115234, 4.984687805175781, 11.031814575195312, 0.4445676803588867 ]
[ -2.7420737743377686, 6.247307300567627, -35.74943923950195, 4.713064670562744, 11.30647087097168, 0.950441300868988 ]
19.200001
96
0
96
0
[ -6.037727355957031, 3.2232742309570312, -38.13410568237305, 5.35086727142334, 10.647401809692383, 0.39890241622924805 ]
[ -3.684661626815796, 6.074967861175537, -35.74943923950195, 4.9572649002075195, 11.11111068725586, 0.950441300868988 ]
19.4
97
0
97
0
[ -7.753139495849609, 3.42138671875, -38.34492874145508, 5.513161659240723, 10.469501495361328, 0.3677234649658203 ]
[ -6.2553558349609375, 6.074967861175537, -35.838924407958984, 5.396825313568115, 10.720390319824219, 0.950441300868988 ]
19.6
98
0
98
0
[ -8.78582763671875, 3.1644744873046875, -38.3454704284668, 5.641229629516602, 10.281961441040039, 0.36128902435302734 ]
[ -8.054841041564941, 6.074967861175537, -35.838924407958984, 5.396825313568115, 10.525030136108398, 0.950441300868988 ]
19.799999
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_follower",
    "total_episodes": 1,
    "total_frames": 1326,
    "total_tasks": 1,
    "total_videos": 2,
    "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": [
                6
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            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.images.gripper": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
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            "names": [
                "height",
                "width",
                "channels"
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            "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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            "shape": [
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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,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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