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action
sequence
observation.state
sequence
timestamp
float32
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9.07
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int64
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[ -66.181640625, 114.345703125, 106.69921875, 74.70703125, 55.634765625, 7.679999828338623 ]
[ -74.00390625, 105.46875, 110.0390625, 74.8828125, 54.404296875, 35.99202346801758 ]
2.5
75
0
75
0
[ -63.369140625, 115.3125, 106.69921875, 74.619140625, 56.77734375, 3.200000047683716 ]
[ -72.0703125, 106.435546875, 109.423828125, 74.794921875, 54.4921875, 28.11565399169922 ]
2.533333
76
0
76
0
[ -57.568359375, 116.806640625, 106.611328125, 75.322265625, 58.53515625, 0.3199999928474426 ]
[ -66.357421875, 108.6328125, 108.6328125, 74.35546875, 55.283203125, 13.85842514038086 ]
2.566667
77
0
77
0
[ -53.26171875, 117.685546875, 106.69921875, 75.9375, 60.1171875, 0.1599999964237213 ]
[ -64.423828125, 109.6875, 108.45703125, 74.53125, 55.8984375, 8.075772285461426 ]
2.6
78
0
78
0
[ -45.87890625, 119.443359375, 107.578125, 76.376953125, 63.10546875, 0.1599999964237213 ]
[ -59.326171875, 111.533203125, 108.369140625, 74.794921875, 58.53515625, 3.5892322063446045 ]
2.633333
79
0
79
0
[ -40.693359375, 121.11328125, 108.720703125, 76.2890625, 65.302734375, 0.1599999964237213 ]
[ -55.458984375, 112.412109375, 108.369140625, 74.619140625, 59.326171875, 2.1934196949005127 ]
2.666667
80
0
80
0
[ -33.310546875, 123.3984375, 110.302734375, 76.11328125, 68.818359375, 0.1599999964237213 ]
[ -47.724609375, 114.345703125, 108.6328125, 75.498046875, 62.75390625, 1.0967098474502563 ]
2.7
81
0
81
0
[ -27.685546875, 125.244140625, 112.236328125, 75.05859375, 71.3671875, 0.1599999964237213 ]
[ -40.4296875, 116.455078125, 109.423828125, 75.234375, 65.0390625, 0.5982053875923157 ]
2.733333
82
0
82
0
[ -17.75390625, 129.814453125, 117.0703125, 72.333984375, 76.728515625, 0 ]
[ -30.849609375, 119.35546875, 111.97265625, 75.234375, 69.169921875, 0.29910269379615784 ]
2.766667
83
0
83
0
[ -12.568359375, 133.154296875, 121.201171875, 70.576171875, 80.33203125, 0 ]
[ -27.7734375, 121.025390625, 113.115234375, 74.35546875, 71.015625, 0.09970089793205261 ]
2.8
84
0
84
0
[ -8.173828125, 136.7578125, 126.298828125, 68.466796875, 83.935546875, 0 ]
[ -20.302734375, 125.068359375, 118.4765625, 71.630859375, 76.376953125, 0.19940179586410522 ]
2.833333
85
0
85
0
[ -3.8671875, 141.943359375, 133.41796875, 66.357421875, 87.1875, 0 ]
[ -12.83203125, 128.056640625, 121.9921875, 69.609375, 79.62890625, 0.19940179586410522 ]
2.866667
86
0
86
0
[ -2.63671875, 145.1953125, 137.900390625, 65.7421875, 88.330078125, 0 ]
[ -9.052734375, 131.220703125, 126.73828125, 68.203125, 82.529296875, 0.09970089793205261 ]
2.9
87
0
87
0
[ -2.109375, 150.46875, 143.96484375, 65.830078125, 89.033203125, 0 ]
[ -5.185546875, 135.263671875, 132.36328125, 66.4453125, 85.693359375, 0.29910269379615784 ]
2.933333
88
0
88
0
[ -2.021484375, 154.3359375, 148.0078125, 66.357421875, 89.384765625, 0 ]
[ -3.427734375, 138.1640625, 135.87890625, 66.005859375, 86.8359375, 0.09970089793205261 ]
2.966667
89
0
89
0
[ -2.8125, 159.697265625, 153.45703125, 66.533203125, 89.560546875, 0 ]
[ -2.724609375, 145.546875, 145.107421875, 66.09375, 88.2421875, 0.19940179586410522 ]
3
90
0
90
0
[ -2.900390625, 167.34375, 160.3125, 66.4453125, 91.142578125, 0 ]
[ -2.63671875, 151.34765625, 150.1171875, 65.654296875, 88.505859375, 0.19940179586410522 ]
3.033333
91
0
91
0
[ -2.8125, 174.287109375, 166.904296875, 66.26953125, 92.900390625, 0 ]
[ -2.28515625, 155.390625, 154.599609375, 66.09375, 89.82421875, 0.19940179586410522 ]
3.066667
92
0
92
0
[ -2.724609375, 179.736328125, 171.650390625, 66.708984375, 94.306640625, 0 ]
[ -2.4609375, 162.421875, 161.54296875, 66.181640625, 91.142578125, 0.19940179586410522 ]
3.1
93
0
93
0
[ -2.8125, 183.8671875, 174.90234375, 67.67578125, 94.658203125, 0 ]
[ -2.63671875, 165.5859375, 164.35546875, 66.181640625, 91.58203125, 0.19940179586410522 ]
3.133333
94
0
94
0
[ -3.076171875, 187.20703125, 177.275390625, 68.90625, 94.833984375, 0 ]
[ -2.548828125, 170.419921875, 169.189453125, 66.09375, 92.8125, 0.19940179586410522 ]
3.166667
95
0
95
0
[ -3.427734375, 190.986328125, 180, 70.83984375, 94.921875, 0 ]
[ -2.4609375, 176.8359375, 173.232421875, 67.236328125, 93.33984375, 0.19940179586410522 ]
3.2
96
0
96
0
[ -3.33984375, 193.623046875, 181.7578125, 72.421875, 95.009765625, 0 ]
[ -2.900390625, 182.8125, 176.923828125, 68.818359375, 93.603515625, 0.19940179586410522 ]
3.233333
97
0
97
0
[ -3.33984375, 197.578125, 183.955078125, 76.025390625, 95.44921875, 0 ]
[ -2.8125, 185.537109375, 178.330078125, 70.13671875, 94.04296875, 0.19940179586410522 ]
3.266667
98
0
98
0
[ -3.427734375, 199.51171875, 183.955078125, 80.68359375, 95.537109375, 0 ]
[ -2.724609375, 189.052734375, 178.681640625, 72.333984375, 94.482421875, 0.19940179586410522 ]
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": 40,
    "total_frames": 6327,
    "total_tasks": 1,
    "total_videos": 80,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:40"
    },
    "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.laptop": {
            "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.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": "av1",
                "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",
            "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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