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float32
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12
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int64
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360
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[ 0.2101956307888031, 0.03927844017744064, 0.01602938212454319, -0.3567178249359131, 2.9097790718078613, 0.03783773258328438, 40.41005325317383 ]
2.8
84
0
84
0
[ 1, -42.50823974609375, 13.519783020019531, 0.2614907920360565, 0.03153710439801216, 0.042166948318481445, -0.000008274693755083717, 2.928697109222412, -5.031508294450759e-7, 40.79085159301758 ]
[ 0.2104334682226181, 0.03822599723935127, 0.01602938026189804, -0.3477790355682373, 2.910794258117676, 0.03688954561948776, 40.41005325317383 ]
2.833333
85
0
85
0
[ 1, -42.358612060546875, 14.803260803222656, 0.2630525529384613, 0.030673090368509293, 0.04132384806871414, -0.000008274693755083717, 2.928697109222412, -5.031508294450759e-7, 40.79085159301758 ]
[ 0.2107216864824295, 0.03690842166543007, 0.016029376536607742, -0.3366018235683441, 2.91202712059021, 0.03570391237735748, 40.41005325317383 ]
2.866667
86
0
86
0
[ 1, -42.27100372314453, 15.998119354248047, 0.2663506269454956, 0.03182276710867882, 0.04061128944158554, -0.000008274693755083717, 2.928697109222412, -5.031508294450759e-7, 40.79085159301758 ]
[ 0.2111617624759674, 0.034795816987752914, 0.016029370948672295, -0.3187098801136017, 2.9139158725738525, 0.033806007355451584, 40.41005325317383 ]
2.9
87
0
87
0
[ 1, -42.48881530761719, 17.303531646728516, 0.26933157444000244, 0.03437378630042076, 0.04110302776098251, -0.000008274693755083717, 2.928697109222412, -5.031508294450759e-7, 40.79085159301758 ]
[ 0.21147479116916656, 0.03320790454745293, 0.016029365360736847, -0.30528444051742554, 2.915264844894409, 0.032381895929574966, 40.41005325317383 ]
2.933333
88
0
88
0
[ 1, -42.43165588378906, 18.182865142822266, 0.27091073989868164, 0.03588514402508736, 0.04130144417285919, -0.000008274693755083717, 2.928697109222412, -5.031508294450759e-7, 40.71337127685547 ]
[ 0.21177318692207336, 0.0316171757876873, 0.01602936163544655, -0.29185372591018677, 2.916555404663086, 0.03095722198486328, 40.41005325317383 ]
2.966667
89
0
89
0
[ 1, -42.68575668334961, 18.079404830932617, 0.2739827334880829, 0.03633074834942818, 0.04165354371070862, -0.000008274693755083717, 2.928697109222412, -5.031508294450759e-7, 40.71337127685547 ]
[ 0.2119639813899994, 0.03055519610643387, 0.0160293597728014, -0.28289708495140076, 2.9173836708068848, 0.030007140710949898, 40.41005325317383 ]
3
90
0
90
0
[ 1, -42.6366081237793, 17.48920249938965, 0.27914077043533325, 0.03769038990139961, 0.04193580895662308, -0.000008274693755083717, 2.928697109222412, -5.031508294450759e-7, 40.71337127685547 ]
[ 0.2122076451778412, 0.030327770859003067, 0.016080735251307487, -0.28051114082336426, 2.9160642623901367, 0.029971692711114883, 40.41005325317383 ]
3.033333
91
0
91
0
[ 1, -41.766517639160156, 18.11714744567871, 0.28116539120674133, 0.042015764862298965, 0.04255595803260803, -0.000008274693755083717, 2.928697109222412, -5.031508294450759e-7, 40.79085159301758 ]
[ 0.2127981334924698, 0.030442437157034874, 0.016236716881394386, -0.28007179498672485, 2.9114973545074463, 0.03057686984539032, 40.41005325317383 ]
3.066667
92
0
92
0
[ 1, -41.16398620605469, 18.056913375854492, 0.28324922919273376, 0.04659420624375343, 0.041237205266952515, -0.000008274693755083717, 2.928697109222412, -5.031508294450759e-7, 40.79085159301758 ]
[ 0.21456527709960938, 0.030785594135522842, 0.016721246764063835, -0.2787536680698395, 2.8977952003479004, 0.03238210082054138, 40.41005325317383 ]
3.1
93
0
93
0
[ 1, -40.8258056640625, 18.183067321777344, 0.2833012044429779, 0.048697423189878464, 0.040638238191604614, -0.000008274693755083717, 2.928697109222412, -5.031508294450759e-7, 40.86832809448242 ]
[ 0.21652086079120636, 0.031165344640612602, 0.017288709059357643, -0.2772889733314514, 2.8825697898864746, 0.03436994180083275, 40.41005325317383 ]
3.133333
94
0
94
0
[ 1, -40.88743209838867, 17.65339469909668, 0.28441959619522095, 0.051275093108415604, 0.03881397843360901, -0.000008274693755083717, 2.928697109222412, -5.031508294450759e-7, 40.86832809448242 ]
[ 0.21846766769886017, 0.031543388962745667, 0.01788667030632496, -0.2758241593837738, 2.867342710494995, 0.036339059472084045, 40.41005325317383 ]
3.166667
95
0
95
0
[ 1, -41.056968688964844, 16.013225555419922, 0.28899309039115906, 0.05232376232743263, 0.03677162528038025, -0.000008274693755083717, 2.928697109222412, -5.031508294450759e-7, 40.86832809448242 ]
[ 0.2205984741449356, 0.03195716440677643, 0.01857948489487171, -0.27421271800994873, 2.8505918979644775, 0.03848369047045708, 40.41005325317383 ]
3.2
96
0
96
0
[ 1, -40.818851470947266, 14.306147575378418, 0.2919379472732544, 0.05231355503201485, 0.034736886620521545, -0.000008274693755083717, 2.928697109222412, -5.031508294450759e-7, 40.86832809448242 ]
[ 0.22270546853542328, 0.0323663167655468, 0.018553130328655243, -0.27274763584136963, 2.835362434387207, 0.04041411727666855, 40.41005325317383 ]
3.233333
97
0
97
0
[ 1, -40.43614196777344, 13.877030372619629, 0.2945057451725006, 0.05335796996951103, 0.03261570632457733, -0.000008274693755083717, 2.928697109222412, -5.031508294450759e-7, 40.86832809448242 ]
[ 0.223838210105896, 0.03258628398180008, 0.01651424542069435, -0.2723081111907959, 2.8307933807373047, 0.0409897044301033, 40.41005325317383 ]
3.266667
98
0
98
0
[ 1, -39.83685302734375, 12.949161529541016, 0.2964708209037781, 0.05437985435128212, 0.02975645661354065, -0.000008274693755083717, 2.928697109222412, -5.031508294450759e-7, 40.86832809448242 ]
[ 0.22480036318302155, 0.032773133367300034, 0.013110962696373463, -0.272161602973938, 2.829270362854004, 0.04118120297789574, 40.41005325317383 ]
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": 10,
    "total_frames": 3114,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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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