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observation.state
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float32
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19.9
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[ 22.1484375, 179.6484375, 155.56640625, 63.28125, -14.677734375, 40.64022445678711 ]
2.533333
76
0
76
0
[ 20.302734375, 178.681640625, 150.29296875, 66.181640625, -15.8203125, 41.76408004760742 ]
[ 21.533203125, 179.384765625, 154.6875, 64.072265625, -14.677734375, 40.64022445678711 ]
2.566667
77
0
77
0
[ 19.775390625, 177.802734375, 149.4140625, 66.62109375, -15.732421875, 41.97662353515625 ]
[ 20.56640625, 179.384765625, 154.16015625, 64.423828125, -14.677734375, 40.64022445678711 ]
2.6
78
0
78
0
[ 19.3359375, 176.484375, 148.447265625, 66.884765625, -15.556640625, 42.18915939331055 ]
[ 20.302734375, 178.41796875, 153.28125, 65.21484375, -14.677734375, 40.64022445678711 ]
2.633333
79
0
79
0
[ 18.984375, 175.166015625, 147.568359375, 67.060546875, -15.556640625, 42.18915939331055 ]
[ 20.126953125, 177.626953125, 152.490234375, 65.56640625, -14.677734375, 40.70981216430664 ]
2.666667
80
0
80
0
[ 18.6328125, 174.19921875, 146.77734375, 67.1484375, -15.556640625, 42.18915939331055 ]
[ 19.51171875, 176.8359375, 151.787109375, 65.7421875, -14.677734375, 41.26652908325195 ]
2.7
81
0
81
0
[ 18.193359375, 173.671875, 146.42578125, 67.236328125, -15.732421875, 42.18915939331055 ]
[ 18.45703125, 175.95703125, 150.732421875, 66.357421875, -14.677734375, 41.544883728027344 ]
2.733333
82
0
82
0
[ 17.841796875, 173.671875, 146.162109375, 67.236328125, -15.908203125, 42.18915939331055 ]
[ 18.369140625, 174.990234375, 149.853515625, 66.62109375, -14.677734375, 41.544883728027344 ]
2.766667
83
0
83
0
[ 17.578125, 173.671875, 145.8984375, 67.236328125, -16.083984375, 42.18915939331055 ]
[ 18.6328125, 174.19921875, 149.501953125, 66.708984375, -14.677734375, 41.61447525024414 ]
2.8
84
0
84
0
[ 17.314453125, 173.408203125, 145.546875, 67.236328125, -16.171875, 42.18915939331055 ]
[ 18.10546875, 173.671875, 149.4140625, 66.796875, -14.765625, 41.75365447998047 ]
2.833333
85
0
85
0
[ 16.962890625, 172.880859375, 145.01953125, 67.236328125, -16.171875, 42.29542922973633 ]
[ 17.2265625, 173.49609375, 148.798828125, 66.97265625, -15.380859375, 41.75365447998047 ]
2.866667
86
0
86
0
[ 16.69921875, 172.001953125, 144.31640625, 67.060546875, -16.083984375, 42.29542922973633 ]
[ 17.138671875, 173.49609375, 148.359375, 66.97265625, -15.64453125, 41.75365447998047 ]
2.9
87
0
87
0
[ 16.34765625, 171.03515625, 143.525390625, 66.708984375, -15.908203125, 42.401702880859375 ]
[ 17.138671875, 173.408203125, 148.271484375, 66.97265625, -15.732421875, 41.75365447998047 ]
2.933333
88
0
88
0
[ 15.908203125, 169.892578125, 142.822265625, 66.26953125, -15.732421875, 42.61423873901367 ]
[ 16.34765625, 171.9140625, 147.568359375, 66.97265625, -15.8203125, 41.75365447998047 ]
2.966667
89
0
89
0
[ 15.380859375, 168.75, 141.943359375, 65.91796875, -15.46875, 42.61423873901367 ]
[ 16.083984375, 171.2109375, 146.865234375, 66.884765625, -15.46875, 41.75365447998047 ]
3
90
0
90
0
[ 14.853515625, 167.607421875, 141.15234375, 65.21484375, -15.205078125, 42.72051239013672 ]
[ 15.8203125, 170.68359375, 145.986328125, 66.796875, -15.46875, 41.75365447998047 ]
3.033333
91
0
91
0
[ 14.150390625, 166.46484375, 140.44921875, 64.599609375, -14.94140625, 42.8267822265625 ]
[ 15.556640625, 169.62890625, 144.931640625, 66.357421875, -15.46875, 41.75365447998047 ]
3.066667
92
0
92
0
[ 13.359375, 165.322265625, 139.658203125, 64.072265625, -14.677734375, 42.933048248291016 ]
[ 14.4140625, 168.310546875, 144.404296875, 66.09375, -15.380859375, 41.75365447998047 ]
3.1
93
0
93
0
[ 12.65625, 164.091796875, 138.955078125, 63.369140625, -14.326171875, 43.0393180847168 ]
[ 14.23828125, 166.552734375, 143.61328125, 65.56640625, -14.94140625, 41.75365447998047 ]
3.133333
94
0
94
0
[ 11.865234375, 163.037109375, 138.515625, 62.578125, -13.88671875, 43.145591735839844 ]
[ 13.798828125, 165.76171875, 142.998046875, 65.302734375, -14.765625, 41.75365447998047 ]
3.166667
95
0
95
0
[ 10.8984375, 161.89453125, 137.98828125, 61.875, -13.53515625, 43.35812759399414 ]
[ 13.095703125, 165.05859375, 142.119140625, 64.51171875, -14.677734375, 42.310367584228516 ]
3.2
96
0
96
0
[ 9.931640625, 160.3125, 137.373046875, 61.171875, -13.271484375, 43.35812759399414 ]
[ 11.513671875, 164.00390625, 141.416015625, 63.720703125, -13.974609375, 42.51913833618164 ]
3.233333
97
0
97
0
[ 8.96484375, 158.642578125, 136.669921875, 60.556640625, -12.919921875, 43.35812759399414 ]
[ 10.810546875, 162.685546875, 140.888671875, 62.9296875, -13.798828125, 42.65831756591797 ]
3.266667
98
0
98
0
[ 7.998046875, 156.97265625, 136.142578125, 59.853515625, -12.568359375, 43.46439743041992 ]
[ 9.931640625, 161.279296875, 140.361328125, 62.40234375, -13.53515625, 42.7279052734375 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 1,
    "total_frames": 599,
    "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": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper"
            ]
        },
        "observation.images.wrist": {
            "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.world": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "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": {
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            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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