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sequence
observation.state
sequence
timestamp
float32
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15.7
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int64
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[ 5.09765625, 69.2578125, 79.365234375, 73.125, -10.01953125, 20.055904388427734 ]
2.166667
65
0
65
0
[ 4.4986114501953125, 66.84535217285156, 72.67359161376953, 71.93310546875, -9.94305419921875, 19.69810676574707 ]
[ 5.09765625, 68.291015625, 78.310546875, 73.125, -10.01953125, 20.055904388427734 ]
2.2
66
0
66
0
[ 4.202423095703125, 66.09038543701172, 72.09613800048828, 71.96395111083984, -9.970932006835938, 19.679471969604492 ]
[ 5.09765625, 67.1484375, 77.51953125, 72.7734375, -10.107421875, 20.055904388427734 ]
2.233333
67
0
67
0
[ 4.169704437255859, 65.31878662109375, 71.74816131591797, 72.15870666503906, -9.873626708984375, 19.693422317504883 ]
[ 5.09765625, 66.357421875, 76.9921875, 73.125, -9.931640625, 20.055904388427734 ]
2.266667
68
0
68
0
[ 4.343944549560547, 64.25241088867188, 71.62593841552734, 71.55722045898438, -9.731586456298828, 19.495025634765625 ]
[ 5.009765625, 65.654296875, 76.9921875, 72.333984375, -9.931640625, 20.055904388427734 ]
2.3
69
0
69
0
[ 4.207675933837891, 63.4985237121582, 71.28288269042969, 71.55470275878906, -9.804801940917969, 19.25556182861328 ]
[ 5.009765625, 65.126953125, 76.9921875, 73.037109375, -9.931640625, 20.055904388427734 ]
2.333333
70
0
70
0
[ 3.9353179931640625, 63.02614974975586, 71.11727905273438, 71.7202377319336, -10.021854400634766, 19.331165313720703 ]
[ 5.009765625, 64.248046875, 76.9921875, 72.7734375, -9.931640625, 20.055904388427734 ]
2.366667
71
0
71
0
[ 3.976043701171875, 62.49873733520508, 71.32222747802734, 71.60887145996094, -10.258377075195312, 19.565793991088867 ]
[ 5.009765625, 63.193359375, 76.9921875, 72.59765625, -9.931640625, 20.055904388427734 ]
2.4
72
0
72
0
[ 3.911998748779297, 62.14067840576172, 71.23917388916016, 71.624267578125, -10.14095687866211, 19.438003540039062 ]
[ 4.833984375, 62.666015625, 76.9921875, 73.037109375, -9.931640625, 20.195667266845703 ]
2.433333
73
0
73
0
[ 4.131046295166016, 62.36276626586914, 72.62010955810547, 71.03714752197266, -10.129657745361328, 18.580242156982422 ]
[ 4.74609375, 62.2265625, 76.904296875, 72.7734375, -9.931640625, 20.055904388427734 ]
2.466667
74
0
74
0
[ 3.774127960205078, 62.183101654052734, 72.78119659423828, 71.04534912109375, -10.130168914794922, 17.550798416137695 ]
[ 4.482421875, 61.875, 76.904296875, 72.421875, -9.931640625, 19.9161434173584 ]
2.5
75
0
75
0
[ 3.5433197021484375, 61.927921295166016, 72.8076400756836, 70.76466369628906, -10.164070129394531, 16.7014217376709 ]
[ 4.21875, 61.875, 76.904296875, 72.333984375, -9.931640625, 19.77638053894043 ]
2.533333
76
0
76
0
[ 3.4016647338867188, 61.97187423706055, 72.79402160644531, 70.70684051513672, -9.951862335205078, 16.27056884765625 ]
[ 4.130859375, 61.875, 76.904296875, 72.24609375, -9.931640625, 19.42697525024414 ]
2.566667
77
0
77
0
[ 3.4121475219726562, 61.934566497802734, 72.88253784179688, 70.41089630126953, -10.402523040771484, 14.679915428161621 ]
[ 4.130859375, 61.611328125, 76.81640625, 72.0703125, -9.931640625, 18.448637008666992 ]
2.6
78
0
78
0
[ 3.3549575805664062, 62.33580780029297, 73.2559585571289, 70.0565185546875, -10.188407897949219, 13.860591888427734 ]
[ 4.04296875, 61.611328125, 76.81640625, 71.630859375, -9.931640625, 17.67994499206543 ]
2.633333
79
0
79
0
[ 3.4222755432128906, 62.05667495727539, 73.39850616455078, 69.94640350341797, -10.060073852539062, 12.061665534973145 ]
[ 4.04296875, 61.611328125, 76.81640625, 71.455078125, -9.931640625, 16.84136962890625 ]
2.666667
80
0
80
0
[ 3.1506271362304688, 62.072357177734375, 73.24150848388672, 69.96658325195312, -10.140087127685547, 10.532299041748047 ]
[ 4.04296875, 61.611328125, 76.81640625, 71.19140625, -9.931640625, 15.583507537841797 ]
2.7
81
0
81
0
[ 3.0119972229003906, 61.83022689819336, 73.15218353271484, 69.8736801147461, -9.83523941040039, 8.102375030517578 ]
[ 4.04296875, 61.611328125, 76.81640625, 71.015625, -9.931640625, 14.395527839660645 ]
2.733333
82
0
82
0
[ 3.3030357360839844, 61.7181282043457, 72.88374328613281, 69.6859130859375, -9.814117431640625, 5.627439022064209 ]
[ 4.04296875, 61.611328125, 76.81640625, 70.83984375, -9.931640625, 12.85814094543457 ]
2.766667
83
0
83
0
[ 3.4078712463378906, 61.51176071166992, 72.76632690429688, 69.68351745605469, -9.832172393798828, 3.3266139030456543 ]
[ 4.04296875, 61.5234375, 76.81640625, 70.751953125, -9.931640625, 11.250873565673828 ]
2.8
84
0
84
0
[ 3.3833045959472656, 61.74484634399414, 73.04145812988281, 69.43998718261719, -9.934150695800781, 1.9318825006484985 ]
[ 4.04296875, 61.435546875, 76.81640625, 70.6640625, -9.931640625, 8.805031776428223 ]
2.833333
85
0
85
0
[ 3.7061309814453125, 61.813201904296875, 73.2293930053711, 69.7723388671875, -9.773780822753906, 1.1317108869552612 ]
[ 4.04296875, 61.435546875, 76.81640625, 70.6640625, -9.931640625, 6.498951435089111 ]
2.866667
86
0
86
0
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[ 4.04296875, 61.435546875, 76.81640625, 70.6640625, -9.931640625, 4.612159252166748 ]
2.9
87
0
87
0
[ 3.9133377075195312, 61.85819625854492, 74.1556396484375, 69.8215560913086, -10.098503112792969, 0.13120625913143158 ]
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2.933333
88
0
88
0
[ 4.191314697265625, 62.245487213134766, 74.00728607177734, 70.23576354980469, -10.332252502441406, 0.069663867354393 ]
[ 4.04296875, 61.435546875, 76.81640625, 70.6640625, -9.931640625, 2.51572322845459 ]
2.966667
89
0
89
0
[ 4.3086395263671875, 62.88936996459961, 73.91549682617188, 71.03422546386719, -9.878494262695312, 0.07142534106969833 ]
[ 4.04296875, 61.435546875, 76.81640625, 70.6640625, -9.931640625, 2.026555061340332 ]
3
90
0
90
0
[ 4.592048645019531, 64.53079986572266, 73.34443664550781, 72.22643280029297, -9.96981430053711, 0.0936867743730545 ]
[ 4.04296875, 61.435546875, 76.81640625, 70.6640625, -9.931640625, 1.816911220550537 ]
3.033333
91
0
91
0
[ 4.671977996826172, 65.73895263671875, 73.13253021240234, 73.56830596923828, -10.036308288574219, 0.08968909829854965 ]
[ 4.04296875, 61.435546875, 76.81640625, 70.6640625, -9.931640625, 1.816911220550537 ]
3.066667
92
0
92
0
[ 4.785762786865234, 66.88430786132812, 72.41168975830078, 74.40545654296875, -9.762229919433594, 0.0974605455994606 ]
[ 4.04296875, 61.875, 76.81640625, 70.751953125, -9.931640625, 1.7470300197601318 ]
3.1
93
0
93
0
[ 4.694831848144531, 67.58201599121094, 72.67122650146484, 74.4085693359375, -9.905658721923828, 0.1252189576625824 ]
[ 4.04296875, 62.138671875, 76.81640625, 71.19140625, -10.107421875, 1.7470300197601318 ]
3.133333
94
0
94
0
[ 4.5641021728515625, 68.92289733886719, 71.74179077148438, 76.03761291503906, -10.005409240722656, 0.09922060370445251 ]
[ 4.04296875, 62.490234375, 76.904296875, 72.94921875, -10.01953125, 1.7470300197601318 ]
3.166667
95
0
95
0
[ 4.860294342041016, 70.66757202148438, 71.30005645751953, 77.24854278564453, -10.004020690917969, 0.09978461265563965 ]
[ 4.130859375, 62.9296875, 76.904296875, 73.828125, -10.01953125, 1.7470300197601318 ]
3.2
96
0
96
0
[ 4.177398681640625, 71.49359130859375, 70.6884765625, 77.87232208251953, -9.52774429321289, 0.058475762605667114 ]
[ 4.130859375, 63.720703125, 76.904296875, 73.4765625, -10.01953125, 1.7470300197601318 ]
3.233333
97
0
97
0
[ 4.196891784667969, 72.32740783691406, 71.13481903076172, 78.8636245727539, -9.31380844116211, 0.10604683309793472 ]
[ 4.130859375, 64.86328125, 76.904296875, 75.5859375, -10.107421875, 1.7470300197601318 ]
3.266667
98
0
98
0
[ 4.2503509521484375, 73.34304809570312, 71.21503448486328, 80.30279541015625, -8.951839447021484, 0.0540061853826046 ]
[ 4.21875, 66.181640625, 76.904296875, 76.640625, -9.931640625, 1.7470300197601318 ]
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": "v2.1",
    "robot_type": "so100",
    "total_episodes": 1,
    "total_frames": 240,
    "total_tasks": 1,
    "total_videos": 3,
    "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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.FrontCam": {
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                "has_audio": false
            }
        },
        "observation.images.TopCam": {
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            "names": [
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            "info": {
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                "video.channels": 3,
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        "observation.images.WristCam": {
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            "shape": [
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            "names": [
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                "width",
                "channels"
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            "info": {
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                "video.codec": "av1",
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        "timestamp": {
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        "frame_index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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