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observation.state
sequence
timestamp
float32
0
29.3
frame_index
int64
0
879
episode_index
int64
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34
index
int64
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21.9k
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int64
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[ -10.01953125, 157.412109375, 110.0390625, 81.650390625, 84.7265625, 0.16425755620002747 ]
2.533333
76
0
76
0
[ -2.28515625, 153.896484375, 100.546875, 81.650390625, 76.904296875, 0 ]
[ -7.734375, 156.533203125, 108.193359375, 81.650390625, 82.79296875, 0.16425755620002747 ]
2.566667
77
0
77
0
[ -0.52734375, 152.490234375, 99.404296875, 81.650390625, 74.00390625, 0 ]
[ -5.2734375, 155.654296875, 107.05078125, 81.650390625, 80.68359375, 0.16425755620002747 ]
2.6
78
0
78
0
[ 1.40625, 151.171875, 98.61328125, 81.650390625, 72.24609375, 0 ]
[ -2.724609375, 154.86328125, 106.259765625, 81.73828125, 78.134765625, 0.16425755620002747 ]
2.633333
79
0
79
0
[ 3.427734375, 149.765625, 98.0859375, 81.5625, 71.103515625, 0 ]
[ -0.791015625, 153.28125, 105.46875, 81.73828125, 75.41015625, 0.16425755620002747 ]
2.666667
80
0
80
0
[ 5.361328125, 148.359375, 97.646484375, 81.5625, 69.78515625, 0 ]
[ 0.87890625, 151.69921875, 104.58984375, 81.73828125, 73.125, 0.16425755620002747 ]
2.7
81
0
81
0
[ 7.20703125, 146.865234375, 97.470703125, 81.38671875, 68.466796875, 0 ]
[ 2.548828125, 150.029296875, 103.798828125, 81.73828125, 71.71875, 0.16425755620002747 ]
2.733333
82
0
82
0
[ 8.876953125, 145.37109375, 97.646484375, 80.771484375, 67.1484375, 0 ]
[ 4.482421875, 148.623046875, 103.359375, 81.73828125, 70.400390625, 0.16425755620002747 ]
2.766667
83
0
83
0
[ 10.458984375, 143.701171875, 97.734375, 80.419921875, 65.91796875, 0 ]
[ 6.328125, 147.216796875, 103.18359375, 81.73828125, 69.08203125, 0.16425755620002747 ]
2.8
84
0
84
0
[ 11.865234375, 142.03125, 97.91015625, 80.068359375, 64.3359375, 0 ]
[ 8.173828125, 145.546875, 103.18359375, 81.73828125, 67.763671875, 0.16425755620002747 ]
2.833333
85
0
85
0
[ 13.18359375, 140.44921875, 98.349609375, 79.1015625, 62.490234375, 0 ]
[ 9.931640625, 143.525390625, 103.18359375, 81.73828125, 66.4453125, 0.16425755620002747 ]
2.866667
86
0
86
0
[ 14.501953125, 138.8671875, 99.140625, 77.431640625, 61.34765625, 0 ]
[ 11.77734375, 141.15234375, 103.18359375, 81.650390625, 64.6875, 0.16425755620002747 ]
2.9
87
0
87
0
[ 15.732421875, 137.197265625, 99.31640625, 75.9375, 60.556640625, 0 ]
[ 13.0078125, 139.5703125, 103.18359375, 81.123046875, 63.193359375, 0.16425755620002747 ]
2.933333
88
0
88
0
[ 16.875, 135.439453125, 99.052734375, 75.5859375, 58.974609375, 0 ]
[ 14.150390625, 137.900390625, 103.18359375, 80.15625, 62.05078125, 0.16425755620002747 ]
2.966667
89
0
89
0
[ 17.9296875, 133.681640625, 98.4375, 75.5859375, 57.48046875, 0 ]
[ 15.205078125, 136.40625, 103.18359375, 78.837890625, 61.083984375, 0.16425755620002747 ]
3
90
0
90
0
[ 18.80859375, 132.01171875, 97.646484375, 75.76171875, 56.162109375, 0 ]
[ 16.083984375, 134.6484375, 103.18359375, 78.046875, 59.4140625, 0.16425755620002747 ]
3.033333
91
0
91
0
[ 19.599609375, 130.693359375, 97.03125, 75.849609375, 54.31640625, 0 ]
[ 17.2265625, 132.802734375, 103.18359375, 78.046875, 57.919921875, 0.16425755620002747 ]
3.066667
92
0
92
0
[ 20.126953125, 129.7265625, 97.03125, 75.76171875, 52.20703125, 0 ]
[ 18.10546875, 131.1328125, 103.18359375, 78.046875, 56.77734375, 0.16425755620002747 ]
3.1
93
0
93
0
[ 20.56640625, 129.111328125, 97.55859375, 74.794921875, 50.361328125, 0 ]
[ 19.248046875, 129.55078125, 103.18359375, 78.046875, 55.01953125, 0.16425755620002747 ]
3.133333
94
0
94
0
[ 20.91796875, 128.583984375, 98.61328125, 73.125, 48.603515625, 0 ]
[ 19.951171875, 128.14453125, 103.18359375, 78.046875, 52.998046875, 0.16425755620002747 ]
3.166667
95
0
95
0
[ 21.26953125, 128.056640625, 99.84375, 71.103515625, 47.373046875, 0 ]
[ 20.390625, 127.44140625, 103.271484375, 77.431640625, 50.9765625, 0.16425755620002747 ]
3.2
96
0
96
0
[ 21.62109375, 127.44140625, 100.546875, 69.169921875, 46.93359375, 0 ]
[ 20.654296875, 126.9140625, 103.271484375, 76.11328125, 49.306640625, 0.16425755620002747 ]
3.233333
97
0
97
0
[ 21.884765625, 126.73828125, 100.634765625, 67.763671875, 47.197265625, 0 ]
[ 20.654296875, 126.650390625, 103.271484375, 74.00390625, 48.076171875, 0.16425755620002747 ]
3.266667
98
0
98
0
[ 22.1484375, 126.123046875, 100.458984375, 67.1484375, 47.021484375, 0 ]
[ 20.830078125, 126.298828125, 103.271484375, 71.630859375, 47.724609375, 0.16425755620002747 ]
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": 2,
    "total_frames": 823,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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.lenovo_top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.realsense_side": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "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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