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float32
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26.5
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int64
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796
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int64
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19
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int64
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12.5k
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2
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[ -2.769230842590332, -76, 33.53845977783203, 83.78022003173828, 5.494505405426025, 26.2382869720459, 0.17737837135791779, 0.0059327310882508755, 0.15223726630210876, 0.19351185858249664, -0.20042377710342407, 0.02353408746421337 ]
2.633333
79
0
79
0
[ -1.924282431602478, -71.25584411621094, 27.017301559448242, 84.7518539428711, 5.803807258605957, 33.75795364379883 ]
[ -2.681318759918213, -75.29669952392578, 32.83516311645508, 83.78022003173828, 5.758241653442383, 27.710844039916992, 0.1770516037940979, 0.00591691629961133, 0.15485993027687073, 0.19351185858249664, -0.20042377710342407, 0.02353408746421337 ]
2.666667
80
0
80
0
[ -1.6087465286254883, -70.39857482910156, 25.606285095214844, 85.23335266113281, 5.205428123474121, 35.61288070678711 ]
[ -2.4175825119018555, -74.32967376708984, 31.868131637573242, 83.95604705810547, 5.758241653442383, 28.84872817993164, 0.17773878574371338, 0.005700292997062206, 0.15611548721790314, 0.19210219383239746, -0.20066802203655243, 0.020878614857792854 ]
2.7
81
0
81
0
[ -1.599531650543213, -69.76194763183594, 24.357601165771484, 86.40740203857422, 5.704702377319336, 38.63072967529297 ]
[ -2.4175825119018555, -73.36264038085938, 30.813186645507812, 84.3956069946289, 5.758241653442383, 30.923694610595703, 0.1783754825592041, 0.005086688790470362, 0.15747477114200592, 0.19210219383239746, -0.20066802203655243, 0.020878614857792854 ]
2.733333
82
0
82
0
[ -1.535438060760498, -68.55384826660156, 23.10421371459961, 86.50001525878906, 5.028029441833496, 40.30911636352539 ]
[ -2.3296704292297363, -72.3956069946289, 29.494504928588867, 84.83516693115234, 5.670329570770264, 32.73092269897461, 0.17852629721164703, 0.005093053448945284, 0.1586175560951233, 0.19210219383239746, -0.20066802203655243, 0.020878614857792854 ]
2.766667
83
0
83
0
[ -1.3803908824920654, -68.10619354248047, 23.026336669921875, 86.15095520019531, 5.571008205413818, 42.740882873535156 ]
[ -2.065934181213379, -71.78022003173828, 28.52747344970703, 85.45054626464844, 5.670329570770264, 34.270416259765625, 0.1787862330675125, 0.004901070613414049, 0.16070622205734253, 0.19147318601608276, -0.2010565847158432, 0.019049465656280518 ]
2.8
84
0
84
0
[ -1.6134859323501587, -67.17646789550781, 21.709518432617188, 86.91102600097656, 5.505263805389404, 43.90364074707031 ]
[ -1.802197813987732, -70.989013671875, 27.296703338623047, 85.89010620117188, 5.5824174880981445, 36.613121032714844, 0.17835886776447296, 0.004240634851157665, 0.16182732582092285, 0.19147318601608276, -0.2010565847158432, 0.019049465656280518 ]
2.833333
85
0
85
0
[ -0.9181269407272339, -66.83718872070312, 20.36927032470703, 86.50563049316406, 5.478523254394531, 44.46733856201172 ]
[ -1.9780219793319702, -70.28571319580078, 26.681318283081055, 85.97801971435547, 5.5824174880981445, 38.42034912109375, 0.17849749326705933, 0.0036142412573099136, 0.1638999730348587, 0.19147318601608276, -0.2010565847158432, 0.019049465656280518 ]
2.866667
86
0
86
0
[ -1.0548557043075562, -66.01089477539062, 19.8880672454834, 87.08525085449219, 6.6401591300964355, 45.21397399902344 ]
[ -1.9780219793319702, -69.14286041259766, 25.27472496032715, 86.32967376708984, 5.5824174880981445, 41.09772491455078, 0.17906975746154785, 0.004062978085130453, 0.1646001636981964, 0.19300477206707, -0.2008001208305359, 0.02286631055176258 ]
2.9
87
0
87
0
[ -0.8456990718841553, -65.5906982421875, 18.814176559448242, 88.10907745361328, 6.762261867523193, 45.97553253173828 ]
[ -1.5384615659713745, -68.70330047607422, 24.395605087280273, 86.32967376708984, 5.5824174880981445, 42.16867446899414, 0.17975136637687683, 0.004086517263203859, 0.1667725294828415, 0.19300477206707, -0.2008001208305359, 0.02286631055176258 ]
2.933333
88
0
88
0
[ -0.7754446864128113, -65.21949768066406, 18.135461807250977, 88.75481414794922, 6.538025856018066, 47.29416275024414 ]
[ -1.274725317955017, -68.17582702636719, 23.604394912719727, 86.5934066772461, 5.670329570770264, 42.90495300292969, 0.1804065853357315, 0.003022196004167199, 0.16908040642738342, 0.19300477206707, -0.2008001208305359, 0.02286631055176258 ]
2.966667
89
0
89
0
[ -1.0265966653823853, -65.27354431152344, 17.99819564819336, 88.74422454833984, 6.671776294708252, 47.23355484008789 ]
[ -1.274725317955017, -67.47252655029297, 22.549449920654297, 87.29669952392578, 6.02197790145874, 43.97590255737305, 0.18058857321739197, 0.002362182131037116, 0.17037679255008698, 0.1935255080461502, -0.20084406435489655, 0.022241123020648956 ]
3
90
0
90
0
[ -0.6891546249389648, -64.12055969238281, 17.395309448242188, 88.7386245727539, 7.03202486038208, 47.5946044921875 ]
[ -1.5384615659713745, -66.85713958740234, 21.494504928588867, 88.0879135131836, 6.109889984130859, 45.247657775878906, 0.18013447523117065, 0.0023037148639559746, 0.17140357196331024, 0.1935255080461502, -0.20084406435489655, 0.022241123020648956 ]
3.033333
91
0
91
0
[ -0.25069576501846313, -63.39112091064453, 16.541519165039062, 89.28398895263672, 6.8793487548828125, 50.259490966796875 ]
[ -1.5384615659713745, -66.68132019042969, 21.14285659790039, 88.35164642333984, 6.109889984130859, 45.78313064575195, 0.17941181361675262, 0.002922919811680913, 0.17241635918617249, 0.1935255080461502, -0.20084406435489655, 0.022241123020648956 ]
3.066667
92
0
92
0
[ 0.4257923364639282, -62.46607208251953, 16.104188919067383, 89.44552612304688, 6.735012054443359, 51.66901779174805 ]
[ -1.274725317955017, -65.71428680419922, 20.351648330688477, 88.52747344970703, 6.373626232147217, 46.5194091796875, 0.17914614081382751, 0.0029157816898077726, 0.17280779778957367, 0.19223713874816895, -0.2012249380350113, 0.02107565477490425 ]
3.1
93
0
93
0
[ 0.21319639682769775, -62.90087127685547, 15.874768257141113, 89.5893325805664, 7.017298221588135, 53.06055450439453 ]
[ -0.9230769276618958, -65.010986328125, 19.824174880981445, 88.87911987304688, 6.373626232147217, 47.7242317199707, 0.17996454238891602, 0.002251595025882125, 0.17339681088924408, 0.19223713874816895, -0.2012249380350113, 0.02107565477490425 ]
3.133333
94
0
94
0
[ 0.5975571870803833, -62.659828186035156, 15.255455017089844, 90.46238708496094, 7.804302215576172, 55.639713287353516 ]
[ -0.48351648449897766, -64.3956069946289, 19.208791732788086, 89.14286041259766, 6.373626232147217, 49.129852294921875, 0.18010912835597992, 0.0013875396689400077, 0.17321477830410004, 0.19223713874816895, -0.2012249380350113, 0.02107565477490425 ]
3.166667
95
0
95
0
[ 1.308056354522705, -62.413368225097656, 14.754413604736328, 90.74120330810547, 8.002195358276367, 56.236732482910156 ]
[ -0.21978022158145905, -64.13186645507812, 19.03296661376953, 89.4065933227539, 6.461538314819336, 51.13788604736328, 0.1803704798221588, 0.00030583931948058307, 0.17367568612098694, 0.1920447051525116, -0.2014913260936737, 0.02123979851603508 ]
3.2
96
0
96
0
[ 1.1479933261871338, -62.30931091308594, 14.245302200317383, 90.56591796875, 8.62809944152832, 57.16534423828125 ]
[ -0.21978022158145905, -63.9560432434082, 18.505495071411133, 89.75823974609375, 6.901098728179932, 52.409637451171875, 0.18014952540397644, -0.0003585810190998018, 0.17327916622161865, 0.1920447051525116, -0.2014913260936737, 0.02123979851603508 ]
3.233333
97
0
97
0
[ 2.0817067623138428, -61.87530517578125, 15.373881340026855, 90.51420593261719, 8.63210391998291, 57.503875732421875 ]
[ 0.3956044018268585, -63.78022003173828, 17.9780216217041, 90.19779968261719, 7.164834976196289, 53.88219451904297, 0.1797715574502945, -0.0004203894641250372, 0.17411623895168304, 0.19344490766525269, -0.20072004199028015, 0.023141885176301003 ]
3.266667
98
0
98
0
[ 2.391375780105591, -61.10096740722656, 13.991218566894531, 90.74996948242188, 9.100696563720703, 59.24571228027344 ]
[ 0.8351648449897766, -63.60439682006836, 17.186813354492188, 90.28571319580078, 7.780219554901123, 55.55555725097656, 0.1791970133781433, -0.0019663767889142036, 0.17478109896183014, 0.19344490766525269, -0.20072004199028015, 0.023141885176301003 ]
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": "so_follower",
    "total_episodes": 20,
    "total_frames": 12466,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos",
                "poses.ee.x",
                "poses.ee.y",
                "poses.ee.z",
                "poses.obj.x",
                "poses.obj.y",
                "poses.obj.z"
            ],
            "shape": [
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        },
        "observation.images.camera1": {
            "dtype": "video",
            "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
            }
        },
        "observation.images.camera3": {
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            "shape": [
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            "names": [
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                "channels"
            ],
            "info": {
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                "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.camera2": {
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            "shape": [
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                640,
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        "timestamp": {
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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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