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[ 0.14929869771003723, 0.07812965661287308, 0.15802565217018127, -0.6966707706451416, 2.102872610092163, 0.35800865292549133, 1.1243386268615723 ]
2.933333
88
0
88
0
[ 1, -41.0282096862793, -12.620763778686523, 0.14924389123916626, 0.09224049746990204, 0.11372388154268265, -0.5284846425056458, 1.961782455444336, 0.33348724246025085, -5 ]
[ 0.14915703237056732, 0.0788019672036171, 0.15540620684623718, -0.7093424201011658, 2.124727725982666, 0.35358238220214844, 1.1243386268615723 ]
2.966667
89
0
89
0
[ 1, -40.916500091552734, -12.350884437561035, 0.1498575508594513, 0.09326530992984772, 0.10911665856838226, -0.5284846425056458, 1.961782455444336, 0.33348724246025085, -5 ]
[ 0.14954310655593872, 0.07883133739233017, 0.1529611349105835, -0.7149004936218262, 2.146857738494873, 0.34613996744155884, 1.1243386268615723 ]
3
90
0
90
0
[ 1, -40.035926818847656, -11.558003425598145, 0.15250949561595917, 0.09538441896438599, 0.10104836523532867, -0.5284846425056458, 1.961782455444336, 0.33348724246025085, -5 ]
[ 0.1503550261259079, 0.0797022357583046, 0.14938095211982727, -0.727191686630249, 2.178191661834717, 0.33706164360046387, 1.1243386268615723 ]
3.033333
91
0
91
0
[ 1, -39.97014236450195, -11.17348575592041, 0.15429805219173431, 0.09729820489883423, 0.0968668982386589, -0.5284846425056458, 1.961782455444336, 0.33348724246025085, -5 ]
[ 0.15142054855823517, 0.08023768663406372, 0.14526742696762085, -0.7375016808509827, 2.214728355407715, 0.3248058557510376, 1.1243386268615723 ]
3.066667
92
0
92
0
[ 1, -40.502166748046875, -11.260747909545898, 0.15500357747077942, 0.09866544604301453, 0.09382586181163788, -0.5284846425056458, 1.961782455444336, 0.33348724246025085, -5 ]
[ 0.15220676362514496, 0.08082661777734756, 0.1412786990404129, -0.7490230202674866, 2.249326705932617, 0.31354430317878723, 1.1243386268615723 ]
3.1
93
0
93
0
[ 1, -40.60030746459961, -11.179611206054688, 0.15433122217655182, 0.09989631175994873, 0.0911869928240776, -0.5284846425056458, 1.961782455444336, 0.33348724246025085, -5 ]
[ 0.15289831161499023, 0.0816134512424469, 0.13624636828899384, -0.7651962041854858, 2.292026996612549, 0.2998109757900238, 1.1243386268615723 ]
3.133333
94
0
94
0
[ 1, -42.54204177856445, -11.276036262512207, 0.1507929414510727, 0.10081139206886292, 0.08954816311597824, -0.5284846425056458, 1.961782455444336, 0.33348724246025085, -5 ]
[ 0.15321853756904602, 0.08266653120517731, 0.13049332797527313, -0.7869861125946045, 2.339355945587158, 0.28490349650382996, 1.1243386268615723 ]
3.166667
95
0
95
0
[ 1, -45.21917724609375, -11.841485023498535, 0.14785675704479218, 0.10026097297668457, 0.092629574239254, -0.5284846425056458, 1.961782455444336, 0.33348724246025085, -5 ]
[ 0.15312297642230988, 0.08368507772684097, 0.12538520991802216, -0.8088787198066711, 2.3802378177642822, 0.27194276452064514, 1.1243386268615723 ]
3.2
96
0
96
0
[ 1, -50.08580780029297, -11.731788635253906, 0.1436983048915863, 0.10061801970005035, 0.09787064045667648, -0.5284846425056458, 1.961782455444336, 0.33348724246025085, -5 ]
[ 0.1529267430305481, 0.08435781300067902, 0.12145581841468811, -0.8256890773773193, 2.4114718437194824, 0.26147210597991943, 1.1243386268615723 ]
3.233333
97
0
97
0
[ 1, -53.5837516784668, -11.622472763061523, 0.14074921607971191, 0.09985700249671936, 0.10533685982227325, -0.5284846425056458, 1.961782455444336, 0.33348724246025085, -5 ]
[ 0.15220388770103455, 0.08545088768005371, 0.11923186480998993, -0.8433980345726013, 2.4266858100891113, 0.25785383582115173, 1.1243386268615723 ]
3.266667
98
0
98
0
[ 0, 0, 0, 0.14074921607971191, 0.09985700249671936, 0.10533685982227325, -0.5284846425056458, 1.961782455444336, 0.33348724246025085, -5 ]
[ 0.15155088901519775, 0.0863228291273117, 0.11888960748910904, -0.853859007358551, 2.4267258644104004, 0.25962015986442566, 1.1243386268615723 ]
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": "v3.0",
    "robot_type": "so100_follower",
    "total_episodes": 45,
    "total_frames": 14639,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:45"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "wrist_enabled",
                "wrist_delta_degrees_flex",
                "wrist_delta_degrees_roll",
                "ee.x",
                "ee.y",
                "ee.z",
                "ee.wx",
                "ee.wy",
                "ee.wz",
                "ee.gripper_pos"
            ],
            "shape": [
                10
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "ee.x",
                "ee.y",
                "ee.z",
                "ee.wx",
                "ee.wy",
                "ee.wz",
                "ee.gripper_pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.images.wrist": {
            "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.top": {
            "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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