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observation.state
sequence
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float32
0
59.6
frame_index
int64
0
1.79k
episode_index
int64
0
43
index
int64
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50.4k
task_index
int64
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72
0
72
0
[ -6.240234375, 172.705078125, 143.349609375, 78.75, 7.91015625, 2.3832221031188965 ]
[ -6.50390625, 175.78125, 148.88671875, 79.013671875, 7.822265625, 2.497687339782715 ]
2.433333
73
0
73
0
[ -6.240234375, 172.177734375, 142.91015625, 78.75, 8.173828125, 2.3832221031188965 ]
[ -6.50390625, 174.990234375, 148.271484375, 79.013671875, 7.822265625, 2.497687339782715 ]
2.466667
74
0
74
0
[ -6.240234375, 171.650390625, 142.294921875, 78.75, 8.26171875, 2.3832221031188965 ]
[ -6.50390625, 174.287109375, 147.83203125, 79.013671875, 7.822265625, 2.497687339782715 ]
2.5
75
0
75
0
[ -6.240234375, 171.2109375, 141.591796875, 78.75, 8.26171875, 2.3832221031188965 ]
[ -6.50390625, 173.583984375, 147.3046875, 79.013671875, 7.822265625, 2.497687339782715 ]
2.533333
76
0
76
0
[ -6.240234375, 170.68359375, 140.888671875, 78.75, 8.26171875, 2.3832221031188965 ]
[ -6.50390625, 172.880859375, 146.77734375, 79.013671875, 7.822265625, 2.497687339782715 ]
2.566667
77
0
77
0
[ -6.240234375, 170.068359375, 140.09765625, 78.75, 8.26171875, 2.3832221031188965 ]
[ -6.50390625, 172.353515625, 146.162109375, 79.013671875, 7.822265625, 2.497687339782715 ]
2.6
78
0
78
0
[ -6.240234375, 169.453125, 139.39453125, 78.75, 8.173828125, 2.3832221031188965 ]
[ -6.50390625, 171.73828125, 145.458984375, 79.013671875, 7.822265625, 2.497687339782715 ]
2.633333
79
0
79
0
[ -6.240234375, 168.662109375, 138.69140625, 78.75, 8.0859375, 2.3832221031188965 ]
[ -6.50390625, 171.2109375, 144.66796875, 79.013671875, 7.822265625, 2.497687339782715 ]
2.666667
80
0
80
0
[ -6.240234375, 167.6953125, 137.900390625, 78.75, 8.0859375, 2.3832221031188965 ]
[ -6.50390625, 170.595703125, 143.96484375, 79.013671875, 7.822265625, 2.497687339782715 ]
2.7
81
0
81
0
[ -6.240234375, 166.728515625, 137.197265625, 78.75, 8.0859375, 2.3832221031188965 ]
[ -6.50390625, 169.98046875, 143.26171875, 79.013671875, 7.822265625, 2.497687339782715 ]
2.733333
82
0
82
0
[ -6.240234375, 165.5859375, 136.494140625, 78.75, 8.173828125, 2.3832221031188965 ]
[ -6.50390625, 169.189453125, 142.55859375, 79.013671875, 7.822265625, 2.497687339782715 ]
2.766667
83
0
83
0
[ -6.240234375, 164.35546875, 135.791015625, 78.75, 8.173828125, 2.3832221031188965 ]
[ -6.50390625, 168.310546875, 141.85546875, 79.013671875, 7.822265625, 2.497687339782715 ]
2.8
84
0
84
0
[ -6.240234375, 163.037109375, 135, 78.75, 8.173828125, 2.3832221031188965 ]
[ -6.50390625, 167.34375, 141.15234375, 79.013671875, 7.822265625, 2.497687339782715 ]
2.833333
85
0
85
0
[ -6.240234375, 161.71875, 134.12109375, 78.75, 7.91015625, 2.3832221031188965 ]
[ -6.50390625, 166.2890625, 140.44921875, 79.013671875, 7.822265625, 2.497687339782715 ]
2.866667
86
0
86
0
[ -6.240234375, 160.48828125, 133.2421875, 78.75, 7.822265625, 2.3832221031188965 ]
[ -6.50390625, 165.05859375, 139.74609375, 79.013671875, 7.822265625, 2.497687339782715 ]
2.9
87
0
87
0
[ -6.240234375, 159.345703125, 132.275390625, 78.75, 7.822265625, 2.3832221031188965 ]
[ -6.50390625, 163.828125, 139.04296875, 79.013671875, 7.822265625, 2.497687339782715 ]
2.933333
88
0
88
0
[ -6.240234375, 158.203125, 131.30859375, 78.75, 7.734375, 2.3832221031188965 ]
[ -6.50390625, 162.509765625, 138.1640625, 79.013671875, 7.822265625, 2.497687339782715 ]
2.966667
89
0
89
0
[ -6.240234375, 157.060546875, 130.4296875, 78.75, 7.734375, 2.3832221031188965 ]
[ -6.50390625, 161.103515625, 137.28515625, 79.013671875, 7.822265625, 2.497687339782715 ]
3
90
0
90
0
[ -6.240234375, 156.181640625, 129.638671875, 78.75, 7.646484375, 2.3832221031188965 ]
[ -6.50390625, 159.873046875, 136.318359375, 79.013671875, 7.822265625, 2.497687339782715 ]
3.033333
91
0
91
0
[ -6.240234375, 155.21484375, 128.84765625, 78.75, 7.646484375, 2.3832221031188965 ]
[ -6.50390625, 158.818359375, 135.439453125, 79.013671875, 7.822265625, 2.497687339782715 ]
3.066667
92
0
92
0
[ -6.240234375, 154.248046875, 128.14453125, 78.75, 7.646484375, 2.3832221031188965 ]
[ -6.50390625, 157.763671875, 134.560546875, 79.013671875, 7.822265625, 2.497687339782715 ]
3.1
93
0
93
0
[ -6.240234375, 153.369140625, 127.353515625, 78.75, 7.646484375, 2.3832221031188965 ]
[ -6.50390625, 156.796875, 133.681640625, 79.013671875, 7.822265625, 2.497687339782715 ]
3.133333
94
0
94
0
[ -6.240234375, 152.490234375, 126.650390625, 78.75, 7.646484375, 2.3832221031188965 ]
[ -6.50390625, 155.654296875, 132.890625, 79.013671875, 7.822265625, 2.497687339782715 ]
3.166667
95
0
95
0
[ -6.240234375, 151.5234375, 125.947265625, 78.75, 7.646484375, 2.3832221031188965 ]
[ -6.50390625, 154.51171875, 132.275390625, 79.013671875, 7.822265625, 2.497687339782715 ]
3.2
96
0
96
0
[ -6.240234375, 150.64453125, 125.15625, 78.75, 7.734375, 2.3832221031188965 ]
[ -6.50390625, 153.544921875, 131.66015625, 79.013671875, 7.822265625, 2.497687339782715 ]
3.233333
97
0
97
0
[ -6.240234375, 149.58984375, 124.453125, 78.75, 7.822265625, 2.3832221031188965 ]
[ -6.50390625, 152.75390625, 130.95703125, 79.013671875, 7.822265625, 2.497687339782715 ]
3.266667
98
0
98
0
[ -6.240234375, 148.53515625, 123.662109375, 78.75, 7.822265625, 2.3832221031188965 ]
[ -6.50390625, 151.787109375, 130.166015625, 79.013671875, 7.822265625, 2.497687339782715 ]
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": 1785,
    "total_tasks": 1,
    "total_videos": 2,
    "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.phone": {
            "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
            }
        },
        "observation.images.webcam": {
            "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",
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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