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sequence
observation.state
sequence
timestamp
float32
0
9.03
frame_index
int64
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271
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[ 44.912109375, 98.0859375, 67.5, 97.822265625, 51.15234375, 0.44117647409439087 ]
[ 37.880859375, 95.2734375, 77.34375, 93.955078125, 47.109375, 0.7386888265609741 ]
0.8
24
1
74
0
[ 46.58203125, 97.822265625, 65.654296875, 98.96484375, 52.294921875, 0.44117647409439087 ]
[ 39.638671875, 95.2734375, 75.5859375, 94.921875, 48.1640625, 0.7386888265609741 ]
0.833333
25
1
75
0
[ 48.1640625, 97.646484375, 63.896484375, 100.107421875, 53.701171875, 0.44117647409439087 ]
[ 41.220703125, 95.2734375, 73.828125, 95.9765625, 49.21875, 0.7386888265609741 ]
0.866667
26
1
76
0
[ 49.482421875, 97.55859375, 62.314453125, 101.07421875, 54.84375, 0.44117647409439087 ]
[ 42.802734375, 95.2734375, 71.806640625, 97.03125, 50.2734375, 0.7386888265609741 ]
0.9
27
1
77
0
[ 50.712890625, 97.55859375, 60.908203125, 101.953125, 55.810546875, 0.44117647409439087 ]
[ 44.736328125, 95.2734375, 69.697265625, 98.26171875, 51.328125, 0.7386888265609741 ]
0.933333
28
1
78
0
[ 51.85546875, 97.734375, 59.94140625, 102.48046875, 56.513671875, 0.44117647409439087 ]
[ 46.142578125, 95.2734375, 68.115234375, 99.404296875, 52.294921875, 0.7386888265609741 ]
0.966667
29
1
79
0
[ 52.91015625, 98.173828125, 59.4140625, 102.744140625, 57.041015625, 0.44117647409439087 ]
[ 47.548828125, 95.2734375, 66.708984375, 100.1953125, 53.173828125, 0.7386888265609741 ]
1
30
1
80
0
[ 54.052734375, 98.525390625, 59.23828125, 102.919921875, 57.568359375, 0.44117647409439087 ]
[ 49.306640625, 95.2734375, 64.86328125, 101.07421875, 54.4921875, 0.7386888265609741 ]
1.033333
31
1
81
0
[ 55.107421875, 98.876953125, 59.0625, 103.53515625, 58.095703125, 0.44117647409439087 ]
[ 50.185546875, 95.2734375, 63.984375, 101.513671875, 55.283203125, 0.7386888265609741 ]
1.066667
32
1
82
0
[ 56.513671875, 99.052734375, 58.53515625, 104.765625, 58.798828125, 0.22058823704719543 ]
[ 51.15234375, 95.2734375, 63.28125, 101.865234375, 55.8984375, 0.7386888265609741 ]
1.1
33
1
83
0
[ 58.18359375, 99.66796875, 58.095703125, 106.34765625, 59.4140625, -0.14705882966518402 ]
[ 52.470703125, 95.2734375, 62.75390625, 102.65625, 56.689453125, 0.7386888265609741 ]
1.133333
34
1
84
0
[ 59.94140625, 100.8984375, 58.359375, 107.314453125, 59.853515625, -0.14705882966518402 ]
[ 53.525390625, 95.2734375, 62.138671875, 103.271484375, 57.041015625, 0.7386888265609741 ]
1.166667
35
1
85
0
[ 61.611328125, 102.83203125, 59.501953125, 107.9296875, 60.1171875, -0.14705882966518402 ]
[ 55.1953125, 95.44921875, 61.69921875, 104.501953125, 57.744140625, 0.7386888265609741 ]
1.2
36
1
86
0
[ 63.017578125, 105.205078125, 61.259765625, 108.10546875, 60.205078125, -0.14705882966518402 ]
[ 56.6015625, 95.888671875, 61.611328125, 105.64453125, 58.359375, 0.7386888265609741 ]
1.233333
37
1
87
0
[ 63.80859375, 107.490234375, 62.9296875, 108.10546875, 60.029296875, -0.14705882966518402 ]
[ 58.18359375, 96.767578125, 61.611328125, 106.34765625, 58.88671875, 0.7386888265609741 ]
1.266667
38
1
88
0
[ 64.072265625, 110.0390625, 64.6875, 108.10546875, 59.4140625, -0.14705882966518402 ]
[ 59.677734375, 98.173828125, 61.962890625, 107.05078125, 59.23828125, 0.7386888265609741 ]
1.3
39
1
89
0
[ 63.544921875, 112.32421875, 66.357421875, 108.10546875, 58.974609375, -0.14705882966518402 ]
[ 60.99609375, 100.283203125, 62.9296875, 107.578125, 59.4140625, 0.7386888265609741 ]
1.333333
40
1
90
0
[ 62.578125, 114.609375, 67.8515625, 108.017578125, 58.798828125, -0.14705882966518402 ]
[ 62.2265625, 102.65625, 63.984375, 107.75390625, 59.150390625, 0.7386888265609741 ]
1.366667
41
1
91
0
[ 61.34765625, 116.630859375, 69.2578125, 107.9296875, 58.7109375, -0.14705882966518402 ]
[ 62.75390625, 104.853515625, 65.390625, 107.75390625, 58.7109375, 0.7386888265609741 ]
1.4
42
1
92
0
[ 60.380859375, 117.94921875, 70.3125, 107.75390625, 58.798828125, -0.14705882966518402 ]
[ 62.40234375, 107.841796875, 67.060546875, 107.75390625, 58.623046875, 0.7386888265609741 ]
1.433333
43
1
93
0
[ 59.4140625, 118.916015625, 71.103515625, 107.40234375, 59.150390625, -0.14705882966518402 ]
[ 61.875, 109.951171875, 68.203125, 107.666015625, 58.359375, 0.7386888265609741 ]
1.466667
44
1
94
0
[ 59.0625, 119.1796875, 71.19140625, 107.314453125, 59.4140625, -0.14705882966518402 ]
[ 60.8203125, 111.97265625, 69.609375, 107.666015625, 58.271484375, 0.7386888265609741 ]
1.5
45
1
95
0
[ 58.798828125, 119.091796875, 71.19140625, 107.138671875, 59.58984375, -0.14705882966518402 ]
[ 59.58984375, 113.73046875, 70.83984375, 107.578125, 58.271484375, 0.7386888265609741 ]
1.533333
46
1
96
0
[ 58.7109375, 118.564453125, 70.83984375, 106.787109375, 59.853515625, -0.14705882966518402 ]
[ 59.501953125, 114.873046875, 71.19140625, 107.578125, 58.53515625, 0.7386888265609741 ]
1.566667
47
1
97
0
[ 58.623046875, 117.7734375, 70.224609375, 106.5234375, 59.94140625, -0.14705882966518402 ]
[ 58.798828125, 115.6640625, 71.3671875, 107.578125, 58.7109375, 0.7386888265609741 ]
1.6
48
1
98
0
[ 58.623046875, 116.71875, 69.609375, 106.083984375, 59.94140625, -0.22058823704719543 ]
[ 58.798828125, 115.83984375, 71.3671875, 107.314453125, 58.7109375, 0.7386888265609741 ]
1.633333
49
1
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": "moss",
    "total_episodes": 2,
    "total_frames": 322,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "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": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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