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action
sequence
observation.state
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float32
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29.8
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int64
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[ 5.185546875, 107.2265625, 118.212890625, 70.83984375, 0.3515625, 48.45656967163086 ]
2.2
66
0
66
0
[ 6.002526760101318, 106.7739028930664, 117.75259399414062, 68.32653045654297, 0.5499191284179688, 49.826908111572266 ]
[ 5.2734375, 106.5234375, 118.30078125, 69.43359375, 0.3515625, 48.45656967163086 ]
2.233333
67
0
67
0
[ 5.74445104598999, 106.2255859375, 118.03840637207031, 67.38780975341797, 0.7259124517440796, 49.51761245727539 ]
[ 5.2734375, 105.556640625, 118.30078125, 68.466796875, 0.3515625, 48.45656967163086 ]
2.266667
68
0
68
0
[ 5.633707523345947, 105.89474487304688, 118.40003967285156, 66.80701446533203, 0.8332288265228271, 49.48017501831055 ]
[ 5.2734375, 104.765625, 118.30078125, 69.08203125, 0.439453125, 48.45656967163086 ]
2.3
69
0
69
0
[ 5.534642696380615, 105.07540893554688, 118.54350280761719, 66.00404357910156, 0.9431552886962891, 49.4985466003418 ]
[ 5.2734375, 104.677734375, 119.00390625, 67.939453125, 0.3515625, 48.45656967163086 ]
2.333333
70
0
70
0
[ 5.26679801940918, 104.32234954833984, 119.13456726074219, 64.77054595947266, 1.1584129333496094, 49.10567855834961 ]
[ 5.185546875, 104.23828125, 119.53125, 67.060546875, 0.3515625, 48.45656967163086 ]
2.366667
71
0
71
0
[ 5.17781925201416, 103.61344146728516, 119.05228424072266, 64.26110076904297, 1.2456616163253784, 49.21942138671875 ]
[ 5.09765625, 103.798828125, 119.53125, 66.4453125, 0.3515625, 48.45656967163086 ]
2.4
72
0
72
0
[ 5.1394572257995605, 103.29408264160156, 119.25469970703125, 63.84739685058594, 1.2796574831008911, 49.077796936035156 ]
[ 5.09765625, 103.095703125, 119.794921875, 65.7421875, 0.439453125, 48.45656967163086 ]
2.433333
73
0
73
0
[ 5.090362071990967, 102.62654113769531, 119.62445068359375, 62.98649597167969, 1.3816020488739014, 48.95000457763672 ]
[ 5.09765625, 102.216796875, 119.8828125, 64.86328125, 0.439453125, 48.45656967163086 ]
2.466667
74
0
74
0
[ 5.126231670379639, 102.3299560546875, 119.57007598876953, 62.7609977722168, 1.3434343338012695, 49.107479095458984 ]
[ 5.09765625, 101.25, 120.05859375, 63.984375, 0.439453125, 48.45656967163086 ]
2.5
75
0
75
0
[ 4.889057159423828, 101.70770263671875, 119.73198699951172, 61.950294494628906, 1.5875828266143799, 48.8876953125 ]
[ 5.09765625, 100.72265625, 120.41015625, 63.017578125, 0.439453125, 48.45656967163086 ]
2.533333
76
0
76
0
[ 4.7440314292907715, 101.36195373535156, 119.8216323852539, 61.462745666503906, 1.6380330324172974, 48.85546112060547 ]
[ 5.09765625, 100.458984375, 120.498046875, 62.578125, 0.439453125, 48.45656967163086 ]
2.566667
77
0
77
0
[ 4.6266608238220215, 100.91031646728516, 119.8499755859375, 60.93227005004883, 1.722407341003418, 48.88780975341797 ]
[ 5.09765625, 99.931640625, 120.498046875, 62.314453125, 0.439453125, 48.45656967163086 ]
2.6
78
0
78
0
[ 4.526871681213379, 100.38626861572266, 119.98489379882812, 60.41905975341797, 1.8435394763946533, 48.70521545410156 ]
[ 4.921875, 99.755859375, 120.5859375, 61.611328125, 0.52734375, 48.38478088378906 ]
2.633333
79
0
79
0
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[ 4.658203125, 99.140625, 120.5859375, 61.083984375, 0.439453125, 48.312992095947266 ]
2.666667
80
0
80
0
[ 4.25028657913208, 99.85823059082031, 120.0494155883789, 59.70600128173828, 2.050506591796875, 48.62986755371094 ]
[ 4.5703125, 98.876953125, 120.5859375, 60.46875, 0.439453125, 48.312992095947266 ]
2.7
81
0
81
0
[ 4.216372489929199, 99.6112289428711, 120.0294189453125, 59.40983963012695, 2.0836997032165527, 48.711509704589844 ]
[ 4.5703125, 97.998046875, 120.5859375, 60.029296875, 0.439453125, 48.241207122802734 ]
2.733333
82
0
82
0
[ 3.9463939666748047, 99.17300415039062, 119.86929321289062, 58.98395538330078, 2.1835715770721436, 48.78711700439453 ]
[ 4.5703125, 97.734375, 120.76171875, 59.4140625, 0.966796875, 48.241207122802734 ]
2.766667
83
0
83
0
[ 3.6909470558166504, 98.92169952392578, 120.17137908935547, 58.44517517089844, 2.4216904640197754, 48.7313346862793 ]
[ 4.5703125, 97.55859375, 121.11328125, 59.501953125, 1.318359375, 48.241207122802734 ]
2.8
84
0
84
0
[ 3.614511013031006, 98.83213806152344, 120.15242004394531, 58.323265075683594, 2.5017447471618652, 48.5419807434082 ]
[ 4.5703125, 97.470703125, 121.11328125, 59.326171875, 1.318359375, 48.09762954711914 ]
2.833333
85
0
85
0
[ 3.3586854934692383, 98.70429229736328, 120.2246322631836, 58.06074523925781, 2.7083444595336914, 48.361698150634766 ]
[ 4.306640625, 97.03125, 121.11328125, 58.271484375, 1.494140625, 48.09762954711914 ]
2.866667
86
0
86
0
[ 3.259552001953125, 98.43882751464844, 120.26397705078125, 57.85114288330078, 2.748349189758301, 48.33244323730469 ]
[ 3.779296875, 96.767578125, 121.11328125, 58.271484375, 1.40625, 48.09762954711914 ]
2.9
87
0
87
0
[ 3.078658103942871, 98.00772094726562, 120.11802673339844, 57.414974212646484, 2.9239354133605957, 48.416622161865234 ]
[ 3.33984375, 96.591796875, 121.11328125, 58.7109375, 1.318359375, 48.09762954711914 ]
2.933333
88
0
88
0
[ 2.774840831756592, 98.00379180908203, 120.14923858642578, 57.341644287109375, 3.078338146209717, 47.89317321777344 ]
[ 3.251953125, 96.591796875, 121.201171875, 58.18359375, 1.23046875, 48.09762954711914 ]
2.966667
89
0
89
0
[ 2.7454469203948975, 97.69645690917969, 120.07566833496094, 57.26197814941406, 3.050401210784912, 47.874210357666016 ]
[ 3.33984375, 96.591796875, 121.201171875, 57.3046875, 1.23046875, 48.09762954711914 ]
3
90
0
90
0
[ 2.361248254776001, 97.8547134399414, 120.1754150390625, 57.04893493652344, 3.4697837829589844, 47.287574768066406 ]
[ 3.33984375, 96.591796875, 121.201171875, 57.392578125, 1.845703125, 48.09762954711914 ]
3.033333
91
0
91
0
[ 2.199411392211914, 97.68861389160156, 120.20244598388672, 56.771873474121094, 3.5314459800720215, 46.977088928222656 ]
[ 3.1640625, 96.15234375, 121.201171875, 57.83203125, 2.373046875, 47.66690444946289 ]
3.066667
92
0
92
0
[ 1.983689308166504, 97.57225036621094, 120.28218078613281, 56.54676818847656, 3.753016948699951, 46.46839141845703 ]
[ 2.63671875, 95.712890625, 121.201171875, 57.919921875, 2.197265625, 47.52333068847656 ]
3.1
93
0
93
0
[ 1.8704924583435059, 97.53388977050781, 120.34353637695312, 56.30973815917969, 3.866333484649658, 46.04325866699219 ]
[ 2.373046875, 95.44921875, 121.46484375, 57.216796875, 2.109375, 46.87724304199219 ]
3.133333
94
0
94
0
[ 1.9423174858093262, 97.35589599609375, 120.2691650390625, 56.19654846191406, 3.7250173091888428, 45.602500915527344 ]
[ 2.109375, 95.44921875, 121.46484375, 56.77734375, 2.109375, 46.518306732177734 ]
3.166667
95
0
95
0
[ 1.6730443239212036, 97.10211181640625, 120.2109375, 56.00270080566406, 3.831970691680908, 44.63067626953125 ]
[ 1.93359375, 95.44921875, 121.46484375, 56.689453125, 2.109375, 46.44651794433594 ]
3.2
96
0
96
0
[ 1.4779589176177979, 96.88333129882812, 120.15409851074219, 55.74763488769531, 3.8945460319519043, 42.596378326416016 ]
[ 1.58203125, 95.44921875, 121.46484375, 56.689453125, 2.109375, 45.80043029785156 ]
3.233333
97
0
97
0
[ 1.513495683670044, 96.82807159423828, 120.14177703857422, 55.640140533447266, 3.860161304473877, 40.57655334472656 ]
[ 1.40625, 95.44921875, 121.46484375, 56.689453125, 2.109375, 44.58004379272461 ]
3.266667
98
0
98
0
[ 1.3160009384155273, 96.74842071533203, 120.0291519165039, 55.32944107055664, 3.91443133354187, 37.30332565307617 ]
[ 1.318359375, 95.185546875, 121.552734375, 56.25, 2.109375, 43.14429473876953 ]
3.3
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 5,
    "total_frames": 2903,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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.realsense_side": {
            "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.realsense_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
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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