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sequence
observation.state
sequence
timestamp
float32
0
8.13
frame_index
int64
0
244
episode_index
int64
0
0
index
int64
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244
task_index
int64
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72
0
[ -3.33984375, 140.625, 174.19921875, -50.888671875, 177.890625, 101.10092163085938 ]
[ -3.8671875, 142.3828125, 175.4296875, -47.4609375, 178.330078125, 100.51545715332031 ]
2.433333
73
0
73
0
[ -3.427734375, 140.009765625, 174.19921875, -51.85546875, 177.890625, 101.0091781616211 ]
[ -3.779296875, 141.6796875, 175.4296875, -48.076171875, 178.330078125, 100.51545715332031 ]
2.466667
74
0
74
0
[ -3.515625, 139.39453125, 174.19921875, -52.822265625, 177.802734375, 101.0091781616211 ]
[ -3.515625, 140.9765625, 175.4296875, -48.8671875, 178.330078125, 100.51545715332031 ]
2.5
75
0
75
0
[ -3.603515625, 138.69140625, 174.19921875, -53.7890625, 177.802734375, 101.0091781616211 ]
[ -3.33984375, 140.361328125, 175.4296875, -49.658203125, 178.330078125, 100.51545715332031 ]
2.533333
76
0
76
0
[ -3.603515625, 137.900390625, 174.19921875, -54.66796875, 177.890625, 101.0091781616211 ]
[ -3.251953125, 139.74609375, 175.4296875, -50.44921875, 178.330078125, 100.51545715332031 ]
2.566667
77
0
77
0
[ -3.603515625, 137.109375, 174.111328125, -55.37109375, 177.890625, 101.0091781616211 ]
[ -3.251953125, 139.130859375, 175.4296875, -51.416015625, 178.330078125, 100.51545715332031 ]
2.6
78
0
78
0
[ -3.69140625, 136.58203125, 174.111328125, -55.986328125, 177.890625, 101.0091781616211 ]
[ -3.251953125, 138.33984375, 175.4296875, -52.294921875, 178.330078125, 100.51545715332031 ]
2.633333
79
0
79
0
[ -3.779296875, 135.966796875, 174.111328125, -56.513671875, 177.890625, 101.0091781616211 ]
[ -3.251953125, 137.63671875, 175.4296875, -53.0859375, 178.330078125, 100.51545715332031 ]
2.666667
80
0
80
0
[ -3.955078125, 135.52734375, 174.111328125, -56.953125, 177.890625, 101.0091781616211 ]
[ -3.251953125, 137.021484375, 175.4296875, -53.7890625, 178.330078125, 100.51545715332031 ]
2.7
81
0
81
0
[ -4.21875, 135, 174.111328125, -57.3046875, 177.890625, 101.0091781616211 ]
[ -3.251953125, 136.40625, 175.4296875, -54.404296875, 178.330078125, 100.51545715332031 ]
2.733333
82
0
82
0
[ -4.482421875, 134.47265625, 174.111328125, -58.0078125, 177.890625, 101.0091781616211 ]
[ -3.251953125, 135.791015625, 175.4296875, -55.01953125, 178.330078125, 100.51545715332031 ]
2.766667
83
0
83
0
[ -4.833984375, 133.9453125, 174.111328125, -58.447265625, 177.890625, 101.0091781616211 ]
[ -3.603515625, 135.087890625, 175.4296875, -55.546875, 178.330078125, 100.51545715332031 ]
2.8
84
0
84
0
[ -5.185546875, 133.505859375, 174.111328125, -58.798828125, 177.890625, 101.0091781616211 ]
[ -4.04296875, 134.560546875, 175.4296875, -56.07421875, 178.330078125, 100.51545715332031 ]
2.833333
85
0
85
0
[ -5.361328125, 133.06640625, 174.111328125, -59.326171875, 177.890625, 101.0091781616211 ]
[ -4.482421875, 134.12109375, 175.4296875, -56.6015625, 178.330078125, 100.51545715332031 ]
2.866667
86
0
86
0
[ -5.625, 132.71484375, 174.111328125, -59.765625, 177.890625, 101.0091781616211 ]
[ -4.833984375, 133.59375, 175.4296875, -57.041015625, 178.330078125, 100.51545715332031 ]
2.9
87
0
87
0
[ -5.888671875, 132.451171875, 174.111328125, -60.029296875, 177.890625, 101.0091781616211 ]
[ -5.09765625, 133.06640625, 175.4296875, -57.568359375, 178.330078125, 100.51545715332031 ]
2.933333
88
0
88
0
[ -5.9765625, 132.099609375, 174.111328125, -60.29296875, 177.890625, 101.0091781616211 ]
[ -5.361328125, 132.71484375, 175.4296875, -58.0078125, 178.330078125, 100.51545715332031 ]
2.966667
89
0
89
0
[ -5.9765625, 131.923828125, 174.111328125, -60.46875, 177.802734375, 101.0091781616211 ]
[ -5.44921875, 132.36328125, 175.4296875, -58.271484375, 178.330078125, 100.51545715332031 ]
3
90
0
90
0
[ -5.9765625, 131.66015625, 174.111328125, -60.64453125, 177.802734375, 101.0091781616211 ]
[ -5.625, 132.099609375, 175.4296875, -58.623046875, 178.330078125, 100.51545715332031 ]
3.033333
91
0
91
0
[ -5.712890625, 131.30859375, 174.111328125, -61.083984375, 177.802734375, 101.0091781616211 ]
[ -5.712890625, 131.8359375, 175.4296875, -58.974609375, 178.330078125, 100.51545715332031 ]
3.066667
92
0
92
0
[ -5.537109375, 130.95703125, 174.111328125, -61.5234375, 177.802734375, 101.0091781616211 ]
[ -5.80078125, 131.396484375, 175.4296875, -59.326171875, 178.330078125, 100.51545715332031 ]
3.1
93
0
93
0
[ -5.44921875, 130.60546875, 174.111328125, -61.787109375, 177.802734375, 101.0091781616211 ]
[ -5.80078125, 131.1328125, 175.4296875, -59.58984375, 178.330078125, 100.51545715332031 ]
3.133333
94
0
94
0
[ -5.361328125, 130.341796875, 174.111328125, -61.875, 177.890625, 101.0091781616211 ]
[ -5.80078125, 130.869140625, 175.4296875, -59.94140625, 178.330078125, 100.51545715332031 ]
3.166667
95
0
95
0
[ -5.361328125, 129.990234375, 174.111328125, -62.138671875, 177.978515625, 101.0091781616211 ]
[ -5.80078125, 130.25390625, 175.4296875, -60.380859375, 178.330078125, 100.51545715332031 ]
3.2
96
0
96
0
[ -5.2734375, 129.7265625, 174.111328125, -62.2265625, 177.978515625, 101.0091781616211 ]
[ -5.80078125, 130.166015625, 175.4296875, -60.46875, 178.330078125, 100.51545715332031 ]
3.233333
97
0
97
0
[ -5.2734375, 129.462890625, 174.111328125, -62.314453125, 177.978515625, 101.0091781616211 ]
[ -5.80078125, 129.90234375, 175.4296875, -60.64453125, 178.330078125, 100.51545715332031 ]
3.266667
98
0
98
0
[ -5.2734375, 129.19921875, 174.111328125, -62.40234375, 178.06640625, 101.0091781616211 ]
[ -5.625, 129.55078125, 175.4296875, -60.8203125, 178.330078125, 100.51545715332031 ]
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": 245,
    "total_tasks": 1,
    "total_videos": 1,
    "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": [
                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.keyboard_camera": {
            "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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