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observation.state
sequence
timestamp
float32
0
19.7
frame_index
int64
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592
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int64
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[ -11.42578125, 187.822265625, 177.36328125, 21.708984375, -70.83984375, 15.591007232666016 ]
2.4
72
0
72
0
[ -12.392578125, 188.96484375, 177.36328125, 21.533203125, -72.94921875, 16.811279296875 ]
[ -11.513671875, 187.822265625, 177.36328125, 21.4453125, -71.19140625, 15.591007232666016 ]
2.433333
73
0
73
0
[ -12.83203125, 188.96484375, 177.451171875, 21.708984375, -73.212890625, 16.811279296875 ]
[ -11.513671875, 187.822265625, 177.36328125, 21.4453125, -71.3671875, 15.591007232666016 ]
2.466667
74
0
74
0
[ -13.359375, 188.96484375, 177.802734375, 21.181640625, -74.00390625, 16.811279296875 ]
[ -11.42578125, 187.822265625, 177.36328125, 21.4453125, -71.54296875, 15.591007232666016 ]
2.5
75
0
75
0
[ -14.0625, 188.96484375, 177.890625, 20.390625, -74.443359375, 16.811279296875 ]
[ -11.42578125, 187.822265625, 177.36328125, 21.4453125, -72.158203125, 15.591007232666016 ]
2.533333
76
0
76
0
[ -14.853515625, 188.96484375, 177.890625, 18.80859375, -74.443359375, 16.811279296875 ]
[ -12.041015625, 187.822265625, 177.36328125, 21.4453125, -72.861328125, 15.591007232666016 ]
2.566667
77
0
77
0
[ -15.64453125, 188.96484375, 177.890625, 16.787109375, -74.443359375, 16.811279296875 ]
[ -13.0078125, 187.822265625, 177.36328125, 21.005859375, -73.125, 15.591007232666016 ]
2.6
78
0
78
0
[ -16.34765625, 188.96484375, 177.890625, 14.853515625, -74.443359375, 16.811279296875 ]
[ -13.7109375, 187.822265625, 177.36328125, 19.86328125, -73.30078125, 15.591007232666016 ]
2.633333
79
0
79
0
[ -16.875, 188.96484375, 177.890625, 13.0078125, -74.443359375, 16.811279296875 ]
[ -13.798828125, 187.822265625, 177.36328125, 18.369140625, -73.388671875, 15.591007232666016 ]
2.666667
80
0
80
0
[ -17.2265625, 188.96484375, 177.890625, 11.337890625, -74.443359375, 16.811279296875 ]
[ -14.501953125, 187.822265625, 177.36328125, 16.611328125, -73.388671875, 15.591007232666016 ]
2.7
81
0
81
0
[ -17.314453125, 188.96484375, 177.890625, 9.755859375, -74.443359375, 16.811279296875 ]
[ -15.64453125, 187.822265625, 177.36328125, 15.205078125, -73.388671875, 15.591007232666016 ]
2.733333
82
0
82
0
[ -17.314453125, 188.96484375, 177.890625, 8.525390625, -74.443359375, 16.811279296875 ]
[ -16.083984375, 187.822265625, 177.36328125, 13.88671875, -73.388671875, 15.591007232666016 ]
2.766667
83
0
83
0
[ -17.2265625, 189.052734375, 177.890625, 7.470703125, -74.443359375, 16.811279296875 ]
[ -15.99609375, 187.822265625, 177.36328125, 12.041015625, -73.388671875, 15.591007232666016 ]
2.8
84
0
84
0
[ -16.962890625, 189.052734375, 177.890625, 6.416015625, -74.1796875, 16.811279296875 ]
[ -15.99609375, 187.822265625, 177.36328125, 10.546875, -73.388671875, 15.591007232666016 ]
2.833333
85
0
85
0
[ -16.69921875, 189.052734375, 177.890625, 5.2734375, -73.125, 16.811279296875 ]
[ -16.5234375, 188.173828125, 177.36328125, 9.31640625, -73.388671875, 15.591007232666016 ]
2.866667
86
0
86
0
[ -16.435546875, 189.052734375, 177.890625, 4.130859375, -71.630859375, 16.811279296875 ]
[ -16.5234375, 188.349609375, 177.36328125, 8.0859375, -73.4765625, 15.591007232666016 ]
2.9
87
0
87
0
[ -16.34765625, 189.052734375, 177.890625, 3.515625, -70.751953125, 16.811279296875 ]
[ -15.99609375, 188.349609375, 177.36328125, 7.03125, -73.125, 15.591007232666016 ]
2.933333
88
0
88
0
[ -16.34765625, 189.052734375, 177.890625, 3.515625, -70.751953125, 16.811279296875 ]
[ -15.732421875, 188.349609375, 177.36328125, 5.888671875, -72.0703125, 15.591007232666016 ]
2.966667
89
0
89
0
[ -16.435546875, 189.052734375, 177.890625, 3.603515625, -70.751953125, 16.811279296875 ]
[ -15.908203125, 188.349609375, 177.36328125, 5.009765625, -71.103515625, 15.591007232666016 ]
3
90
0
90
0
[ -16.5234375, 189.052734375, 177.890625, 3.69140625, -70.576171875, 16.811279296875 ]
[ -16.259765625, 188.349609375, 177.36328125, 4.5703125, -70.751953125, 15.591007232666016 ]
3.033333
91
0
91
0
[ -16.69921875, 189.052734375, 177.890625, 3.69140625, -70.3125, 16.811279296875 ]
[ -16.259765625, 188.349609375, 177.36328125, 4.21875, -70.576171875, 15.591007232666016 ]
3.066667
92
0
92
0
[ -16.69921875, 189.052734375, 177.890625, 3.779296875, -70.224609375, 16.811279296875 ]
[ -15.99609375, 188.349609375, 177.36328125, 4.130859375, -70.400390625, 15.591007232666016 ]
3.1
93
0
93
0
[ -16.69921875, 189.052734375, 177.890625, 4.04296875, -70.224609375, 16.811279296875 ]
[ -15.732421875, 188.349609375, 177.36328125, 4.130859375, -70.3125, 15.591007232666016 ]
3.133333
94
0
94
0
[ -16.611328125, 189.052734375, 177.890625, 4.21875, -70.224609375, 16.811279296875 ]
[ -15.732421875, 188.349609375, 177.36328125, 4.130859375, -70.3125, 15.591007232666016 ]
3.166667
95
0
95
0
[ -16.435546875, 189.052734375, 177.890625, 4.306640625, -70.224609375, 16.811279296875 ]
[ -15.8203125, 188.349609375, 177.36328125, 4.306640625, -70.3125, 15.591007232666016 ]
3.2
96
0
96
0
[ -16.435546875, 189.052734375, 177.890625, 4.306640625, -70.224609375, 16.811279296875 ]
[ -15.908203125, 188.349609375, 177.36328125, 4.306640625, -70.3125, 15.591007232666016 ]
3.233333
97
0
97
0
[ -16.34765625, 189.052734375, 177.890625, 4.306640625, -70.224609375, 16.811279296875 ]
[ -15.8203125, 188.349609375, 177.36328125, 4.306640625, -70.3125, 15.591007232666016 ]
3.266667
98
0
98
0
[ -16.171875, 189.052734375, 177.890625, 4.658203125, -70.224609375, 16.811279296875 ]
[ -15.732421875, 188.349609375, 177.36328125, 4.306640625, -70.3125, 15.591007232666016 ]
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": 10,
    "total_frames": 5920,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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.onhand": {
            "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": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "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": "av1",
                "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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