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sequence | observation.state
sequence | timestamp
float32 0
0.23
| frame_index
int64 0
7
| episode_index
int64 0
0
| index
int64 0
7
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
21.19375991821289,
125.35664367675781,
51.57164001464844,
-61.19391632080078,
-90.57827758789062,
0.0804443359375
] |
[
-2.63671875,
-5.80078125,
-0.263671875,
76.025390625,
-86.30859375,
1.5363129377365112
] | 0 | 0 | 0 | 0 | 0 |
[
21.500215530395508,
125.98538208007812,
52.04765701293945,
-61.33069610595703,
-90.66303253173828,
0.048096656799316406
] |
[
-2.63671875,
-5.80078125,
-0.263671875,
76.025390625,
-86.30859375,
1.5363129377365112
] | 0.033333 | 1 | 0 | 1 | 0 |
[
21.761592864990234,
125.93412780761719,
52.243717193603516,
-61.014198303222656,
-90.74723052978516,
0.009316444396972656
] |
[
-2.63671875,
-5.712890625,
-0.263671875,
76.025390625,
-86.484375,
1.5363129377365112
] | 0.066667 | 2 | 0 | 2 | 0 |
[
22.073810577392578,
126.11070251464844,
52.442630767822266,
-61.03865051269531,
-90.82752227783203,
-0.0230712890625
] |
[
-1.494140625,
-4.482421875,
0.3515625,
75.498046875,
-87.36328125,
1.5363129377365112
] | 0.1 | 3 | 0 | 3 | 0 |
[
22.241230010986328,
126.28775024414062,
52.562198638916016,
-61.082069396972656,
-90.84521484375,
0.050881385803222656
] |
[
1.318359375,
-1.7578125,
1.93359375,
72.685546875,
-88.330078125,
1.5363129377365112
] | 0.133333 | 4 | 0 | 4 | 0 |
[
22.63015365600586,
126.26447296142578,
52.95119094848633,
-60.694976806640625,
-90.99664306640625,
0.6425943374633789
] |
[
5.537109375,
2.8125,
5.09765625,
68.37890625,
-88.857421875,
1.5363129377365112
] | 0.166667 | 5 | 0 | 5 | 0 |
[
23.154142379760742,
126.45217895507812,
53.13957595825195,
-60.93186950683594,
-91.18006896972656,
1.5667543411254883
] |
[
10.01953125,
8.701171875,
9.404296875,
62.841796875,
-89.12109375,
1.5363129377365112
] | 0.2 | 6 | 0 | 6 | 0 |
[
23.570241928100586,
126.85662841796875,
53.55859375,
-60.73084259033203,
-91.39714813232422,
2.392704963684082
] |
[
13.974609375,
15.29296875,
14.326171875,
56.42578125,
-89.384765625,
1.5363129377365112
] | 0.233333 | 7 | 0 | 7 | 0 |
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 1,
"total_frames": 8,
"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.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": {
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1
],
"names": null
},
"task_index": {
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"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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