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observation.state
sequence
timestamp
float32
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17
frame_index
int64
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509
episode_index
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int64
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[ 91.95316314697266, 118.64667510986328, 121.8671875, 62.31105041503906, -85.6573715209961, 50.00110626220703 ]
[ 91.669921875, 120.498046875, 125.859375, 63.45703125, -85.78125, 49.75711441040039 ]
2.2
66
0
66
0
[ 92.10711669921875, 116.7805404663086, 120.2492446899414, 62.17402267456055, -85.5531005859375, 49.68103790283203 ]
[ 91.669921875, 119.794921875, 125.244140625, 62.9296875, -85.78125, 49.826507568359375 ]
2.233333
67
0
67
0
[ 92.1110610961914, 115.98570251464844, 119.76506042480469, 61.989501953125, -85.45714569091797, 49.61016082763672 ]
[ 91.669921875, 118.65234375, 124.541015625, 63.193359375, -85.78125, 49.826507568359375 ]
2.266667
68
0
68
0
[ 92.09783172607422, 115.13652038574219, 118.98757934570312, 62.11214065551758, -85.40682983398438, 49.423126220703125 ]
[ 91.669921875, 117.158203125, 123.22265625, 62.75390625, -85.78125, 49.826507568359375 ]
2.3
69
0
69
0
[ 92.05658721923828, 113.38382720947266, 117.66860961914062, 62.03534698486328, -85.26854705810547, 49.17127227783203 ]
[ 91.7578125, 116.19140625, 122.607421875, 62.2265625, -85.693359375, 49.75711441040039 ]
2.333333
70
0
70
0
[ 92.0982437133789, 112.69823455810547, 116.9154281616211, 62.110416412353516, -85.20325469970703, 49.051727294921875 ]
[ 91.93359375, 115.224609375, 121.904296875, 62.841796875, -85.693359375, 49.75711441040039 ]
2.366667
71
0
71
0
[ 91.99637603759766, 110.32699584960938, 114.95687103271484, 62.39863967895508, -85.12220764160156, 48.624359130859375 ]
[ 92.021484375, 113.642578125, 120.498046875, 62.40234375, -85.60546875, 49.75711441040039 ]
2.4
72
0
72
0
[ 91.97892761230469, 108.76606750488281, 113.51460266113281, 62.54378890991211, -85.00663757324219, 48.26264953613281 ]
[ 92.021484375, 112.587890625, 119.53125, 62.40234375, -85.517578125, 49.54892349243164 ]
2.433333
73
0
73
0
[ 91.89471435546875, 107.50135803222656, 112.22293090820312, 62.99828338623047, -84.89778137207031, 48.253204345703125 ]
[ 92.021484375, 110.91796875, 118.125, 62.75390625, -85.341796875, 49.132545471191406 ]
2.466667
74
0
74
0
[ 91.77821350097656, 105.84122467041016, 110.78564453125, 63.14320373535156, -84.76541900634766, 47.98262023925781 ]
[ 92.021484375, 109.16015625, 116.630859375, 62.314453125, -85.166015625, 48.85496139526367 ]
2.5
75
0
75
0
[ 91.76465606689453, 105.11408233642578, 110.36962890625, 63.288429260253906, -84.76712799072266, 47.83491516113281 ]
[ 92.021484375, 107.75390625, 115.48828125, 63.017578125, -85.166015625, 48.64677047729492 ]
2.533333
76
0
76
0
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[ 92.021484375, 106.34765625, 114.2578125, 62.9296875, -85.166015625, 48.36918640136719 ]
2.566667
77
0
77
0
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[ 92.021484375, 105.1171875, 113.203125, 62.841796875, -84.90234375, 48.2997932434082 ]
2.6
78
0
78
0
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[ 91.93359375, 104.150390625, 112.1484375, 63.6328125, -84.814453125, 48.1609992980957 ]
2.633333
79
0
79
0
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[ 91.93359375, 103.18359375, 111.26953125, 63.10546875, -84.814453125, 48.09160232543945 ]
2.666667
80
0
80
0
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[ 91.845703125, 102.041015625, 110.390625, 63.80859375, -84.7265625, 47.95280838012695 ]
2.7
81
0
81
0
[ 90.9095687866211, 96.3065185546875, 102.60124969482422, 63.93307876586914, -84.10789489746094, 47.48017120361328 ]
[ 91.845703125, 100.1953125, 108.720703125, 63.984375, -84.55078125, 47.95280838012695 ]
2.733333
82
0
82
0
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[ 91.669921875, 98.61328125, 107.490234375, 62.9296875, -84.462890625, 47.74462127685547 ]
2.766667
83
0
83
0
[ 90.71686553955078, 94.51123046875, 101.12516784667969, 63.84012222290039, -84.00847625732422, 47.086158752441406 ]
[ 91.494140625, 96.767578125, 105.99609375, 64.423828125, -84.462890625, 47.67522430419922 ]
2.8
84
0
84
0
[ 90.84528350830078, 92.74284362792969, 99.39824676513672, 63.966957092285156, -84.13394927978516, 47.34326934814453 ]
[ 91.40625, 95.712890625, 105.1171875, 63.80859375, -84.462890625, 47.605831146240234 ]
2.833333
85
0
85
0
[ 90.6147232055664, 91.731201171875, 98.61503601074219, 63.8693962097168, -84.02804565429688, 47.15097427368164 ]
[ 91.23046875, 94.482421875, 104.150390625, 64.16015625, -84.462890625, 47.536434173583984 ]
2.866667
86
0
86
0
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[ 91.142578125, 92.98828125, 102.568359375, 64.16015625, -84.375, 47.536434173583984 ]
2.9
87
0
87
0
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[ 91.0546875, 91.669921875, 101.42578125, 63.544921875, -84.19921875, 47.467037200927734 ]
2.933333
88
0
88
0
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[ 90.966796875, 90.791015625, 100.810546875, 64.423828125, -84.19921875, 47.467037200927734 ]
2.966667
89
0
89
0
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[ 90.87890625, 90.17578125, 100.37109375, 64.248046875, -84.19921875, 47.397640228271484 ]
3
90
0
90
0
[ 90.49964141845703, 87.09616088867188, 95.1327133178711, 63.928733825683594, -83.87773895263672, 47.026771545410156 ]
[ 90.87890625, 88.857421875, 99.140625, 64.248046875, -84.19921875, 47.3282470703125 ]
3.033333
91
0
91
0
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[ 90.791015625, 88.2421875, 98.61328125, 63.80859375, -84.19921875, 47.258846282958984 ]
3.066667
92
0
92
0
[ 90.48209381103516, 85.63641357421875, 94.05305480957031, 64.02668762207031, -84.01277160644531, 46.80762481689453 ]
[ 90.791015625, 87.099609375, 97.822265625, 64.248046875, -84.19921875, 47.189453125 ]
3.1
93
0
93
0
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[ 90.791015625, 86.30859375, 97.20703125, 64.072265625, -84.19921875, 47.189453125 ]
3.133333
94
0
94
0
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[ 90.791015625, 85.4296875, 96.6796875, 64.248046875, -84.19921875, 47.12005615234375 ]
3.166667
95
0
95
0
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[ 90.791015625, 84.814453125, 96.240234375, 64.248046875, -84.19921875, 47.0506591796875 ]
3.2
96
0
96
0
[ 90.56351470947266, 82.83052062988281, 91.84188842773438, 64.33613586425781, -83.78692626953125, 47.19895935058594 ]
[ 90.791015625, 84.375, 95.9765625, 64.423828125, -84.19921875, 47.0506591796875 ]
3.233333
97
0
97
0
[ 90.7413558959961, 82.20408630371094, 91.00721740722656, 64.26361846923828, -83.84747314453125, 47.09973907470703 ]
[ 90.791015625, 83.49609375, 95.185546875, 64.3359375, -84.19921875, 47.0506591796875 ]
3.266667
98
0
98
0
[ 90.7934341430664, 81.6148681640625, 90.57329559326172, 64.4316177368164, -83.80825805664062, 47.51184844970703 ]
[ 90.791015625, 82.6171875, 94.39453125, 64.248046875, -84.111328125, 47.0506591796875 ]
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": "so100wrist",
    "total_episodes": 5,
    "total_frames": 1842,
    "total_tasks": 1,
    "total_videos": 5,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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.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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        },
        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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