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observation.state
list
action
list
observation.joint_positions
list
action_joints
list
timestamp
float32
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29.8
frame_index
int64
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895
episode_index
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49
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37.9k
task_index
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[ 0.17163632810115814, 0.022557759657502174, 0.026146769523620605, -0.4192408621311188, 0.8960467576980591, -0.1460728794336319, 0.8051563501358032, 0.44130346179008484, 0.3962000608444214, 23.858266830444336 ]
[ -6.256860733032227, -70.89678192138672, 83.41014099121094, 62.10620880126953, 48.57143020629883, 23.82506561279297 ]
[ -5.993930339813232, -68.9239730834961, 78.50045013427734, 60.983882904052734, 48.85958480834961, 23.858266830444336 ]
3.066667
92
0
92
0
[ 0.15887831151485443, 0.021725768223404884, 0.01272797491401434, -0.42648422718048096, 0.8964110016822815, -0.12065853178501129, 0.8322728276252747, 0.4411567449569702, 0.3357122242450714, 23.82506561279297 ]
[ 0.17217819392681122, 0.022620391100645065, 0.026909733191132545, -0.4191854000091553, 0.8960531949996948, -0.14619268476963043, 0.8050059080123901, 0.4412860572338104, 0.39652499556541443, 23.858266830444336 ]
[ -6.256860733032227, -70.21996307373047, 82.94931030273438, 62.10620880126953, 48.57143020629883, 23.82506561279297 ]
[ -5.993930339813232, -68.50851440429688, 78.04878234863281, 60.983882904052734, 48.85958480834961, 23.858266830444336 ]
3.1
93
0
93
0
[ 0.15919719636440277, 0.021937089040875435, 0.013399924151599407, -0.42803776264190674, 0.8957749605178833, -0.11987859010696411, 0.8324716687202454, 0.4424256980419159, 0.33354225754737854, 23.82506561279297 ]
[ 0.17272497713565826, 0.02268359437584877, 0.02766921930015087, -0.4191298484802246, 0.8960595726966858, -0.14631253480911255, 0.8048552870750427, 0.441268652677536, 0.396850049495697, 23.858266830444336 ]
[ -6.330040454864502, -69.54314422607422, 82.39631652832031, 62.10620880126953, 48.57143020629883, 23.82506561279297 ]
[ -5.993930339813232, -68.09306335449219, 77.59710693359375, 60.983882904052734, 48.85958480834961, 23.858266830444336 ]
3.133333
94
0
94
0
[ 0.15933652222156525, 0.02195410430431366, 0.013752912171185017, -0.4283495247364044, 0.8957368731498718, -0.1190466582775116, 0.8333390951156616, 0.44253164529800415, 0.3312276005744934, 23.82506561279297 ]
[ 0.1730385571718216, 0.022719839587807655, 0.02812109887599945, -0.4192960262298584, 0.8960403800010681, -0.14595365524291992, 0.8053058981895447, 0.4413207471370697, 0.3958767056465149, 23.858266830444336 ]
[ -6.330040454864502, -69.03553009033203, 82.02764892578125, 62.10620880126953, 48.57143020629883, 23.82506561279297 ]
[ -5.993930339813232, -67.67760467529297, 77.23577117919922, 60.983882904052734, 48.85958480834961, 23.858266830444336 ]
3.166667
95
0
95
0
[ 0.1589561253786087, 0.02190764620900154, 0.013521596789360046, -0.4290231466293335, 0.8956546187400818, -0.11722608655691147, 0.8352132439613342, 0.4427605867385864, 0.32616233825683594, 23.82506561279297 ]
[ 0.17336547374725342, 0.022761724889278412, 0.02857387438416481, -0.4183432459831238, 0.8966328501701355, -0.14504651725292206, 0.8063367009162903, 0.4401289224624634, 0.3951045870780945, 23.858266830444336 ]
[ -6.330040454864502, -68.52791595458984, 81.84331512451172, 62.10620880126953, 48.57143020629883, 23.82506561279297 ]
[ -5.993930339813232, -67.26215362548828, 76.87443542480469, 60.983882904052734, 48.81074523925781, 23.858266830444336 ]
3.2
96
0
96
0
[ 0.15887242555618286, 0.021725056692957878, 0.013579006306827068, -0.42824888229370117, 0.8961979746818542, -0.11589671671390533, 0.8371825218200684, 0.4417494237422943, 0.322463721036911, 23.82506561279297 ]
[ 0.17356199026107788, 0.022784439846873283, 0.02886500582098961, -0.41871607303619385, 0.8965897560119629, -0.14423485100269318, 0.8073523044586182, 0.4402463436126709, 0.3928937017917633, 23.858266830444336 ]
[ -6.256860733032227, -68.02030181884766, 81.56681823730469, 62.10620880126953, 48.57143020629883, 23.82506561279297 ]
[ -5.993930339813232, -66.76360321044922, 76.51309967041016, 60.983882904052734, 48.81074523925781, 23.858266830444336 ]
3.233333
97
0
97
0
[ 0.15917816758155823, 0.02176196128129959, 0.014057020656764507, -0.4283812940120697, 0.8961820006370544, -0.11553039401769638, 0.837550938129425, 0.44179391860961914, 0.3214445114135742, 23.82506561279297 ]
[ 0.17363804578781128, 0.022793231531977654, 0.02899790182709694, -0.4192931056022644, 0.8965230584144592, -0.14296767115592957, 0.8089240193367004, 0.4404280185699463, 0.38944199681282043, 23.858266830444336 ]
[ -6.256860733032227, -67.5972900390625, 81.19815826416016, 62.10620880126953, 48.57143020629883, 23.82506561279297 ]
[ -5.993930339813232, -66.18196868896484, 76.15176391601562, 60.983882904052734, 48.81074523925781, 23.858266830444336 ]
3.266667
98
0
98
0
[ 0.15975378453731537, 0.021831441670656204, 0.014819721691310406, -0.4283348023891449, 0.8961876034736633, -0.11565915495157242, 0.8374215960502625, 0.441778302192688, 0.3218027651309967, 23.82506561279297 ]
[ 0.17384497821331024, 0.022821232676506042, 0.029277168214321136, -0.4187292158603668, 0.8970686793327332, -0.14118634164333344, 0.8110343813896179, 0.4393603503704071, 0.3862456679344177, 23.858266830444336 ]
[ -6.256860733032227, -67.17427825927734, 80.7373275756836, 62.10620880126953, 48.57143020629883, 23.82506561279297 ]
[ -5.993930339813232, -65.51724243164062, 75.70008850097656, 60.983882904052734, 48.761905670166016, 23.858266830444336 ]
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": "v3.0",
    "robot_type": "so100_follower",
    "total_episodes": 50,
    "total_frames": 37946,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "x",
                "y",
                "z",
                "rot6d_0",
                "rot6d_1",
                "rot6d_2",
                "rot6d_3",
                "rot6d_4",
                "rot6d_5",
                "gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                10
            ],
            "names": [
                "x",
                "y",
                "z",
                "rot6d_0",
                "rot6d_1",
                "rot6d_2",
                "rot6d_3",
                "rot6d_4",
                "rot6d_5",
                "gripper"
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
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                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
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            "names": null
        },
        "frame_index": {
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        },
        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        },
        "observation.joint_positions": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "action_joints": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        }
    }
}

Citation

BibTeX:

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