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zuozhuan
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so100_catch_test

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Robotics
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LeRobot
so100
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float32
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int64
episode_index
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index
int64
task_index
int64
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[ -8.61328125, 150.908203125, 120.5859375, 82.96875, -0.439453125, 0.48010972142219543 ]
2.333333
70
0
70
0
[ -8.4375, 141.064453125, 115.13671875, 83.232421875, 0.17578125, -0.16764459013938904 ]
[ -8.61328125, 148.88671875, 119.443359375, 82.96875, -0.439453125, 0.48010972142219543 ]
2.366667
71
0
71
0
[ -8.4375, 139.39453125, 114.9609375, 83.232421875, 0.703125, -0.16764459013938904 ]
[ -8.61328125, 146.6015625, 118.564453125, 83.056640625, -0.263671875, 0.48010972142219543 ]
2.4
72
0
72
0
[ -8.4375, 138.427734375, 114.873046875, 83.232421875, 1.669921875, -0.16764459013938904 ]
[ -8.61328125, 144.404296875, 117.94921875, 83.056640625, 0, 0.48010972142219543 ]
2.433333
73
0
73
0
[ -8.4375, 137.724609375, 114.873046875, 83.232421875, 2.8125, -0.16764459013938904 ]
[ -8.61328125, 142.294921875, 117.685546875, 83.056640625, 0.52734375, 0.48010972142219543 ]
2.466667
74
0
74
0
[ -8.4375, 137.63671875, 114.873046875, 83.232421875, 3.779296875, -0.16764459013938904 ]
[ -8.61328125, 140.625, 117.509765625, 83.056640625, 1.494140625, 0.48010972142219543 ]
2.5
75
0
75
0
[ -8.4375, 137.724609375, 115.224609375, 83.232421875, 4.482421875, -0.16764459013938904 ]
[ -8.61328125, 139.306640625, 117.509765625, 83.056640625, 2.28515625, 0.48010972142219543 ]
2.533333
76
0
76
0
[ -8.4375, 137.724609375, 115.3125, 83.14453125, 4.658203125, -0.16764459013938904 ]
[ -8.61328125, 138.515625, 117.509765625, 83.056640625, 3.076171875, 0.48010972142219543 ]
2.566667
77
0
77
0
[ -8.4375, 137.724609375, 115.400390625, 83.14453125, 4.658203125, -0.16764459013938904 ]
[ -8.61328125, 138.33984375, 117.509765625, 83.056640625, 3.69140625, 0.48010972142219543 ]
2.6
78
0
78
0
[ -8.4375, 137.724609375, 115.48828125, 83.14453125, 4.658203125, -0.16764459013938904 ]
[ -8.61328125, 138.251953125, 117.509765625, 83.056640625, 4.04296875, 0.48010972142219543 ]
2.633333
79
0
79
0
[ -8.4375, 137.724609375, 115.576171875, 83.14453125, 4.658203125, -0.16764459013938904 ]
[ -8.61328125, 138.1640625, 117.421875, 83.056640625, 4.130859375, 0.48010972142219543 ]
2.666667
80
0
80
0
[ -8.4375, 137.724609375, 115.576171875, 83.14453125, 4.658203125, -0.16764459013938904 ]
[ -8.61328125, 138.076171875, 117.421875, 83.056640625, 4.306640625, 0.48010972142219543 ]
2.7
81
0
81
0
[ -8.4375, 137.724609375, 115.576171875, 83.14453125, 4.658203125, -0.16764459013938904 ]
[ -8.61328125, 138.076171875, 117.421875, 83.056640625, 4.39453125, 0.48010972142219543 ]
2.733333
82
0
82
0
[ -8.4375, 137.724609375, 115.576171875, 83.14453125, 4.658203125, -0.16764459013938904 ]
[ -8.61328125, 138.076171875, 117.421875, 83.056640625, 4.39453125, 0.48010972142219543 ]
2.766667
83
0
83
0
[ -8.4375, 137.724609375, 115.6640625, 83.14453125, 4.39453125, -0.16764459013938904 ]
[ -8.61328125, 138.076171875, 117.421875, 83.056640625, 4.39453125, 0.48010972142219543 ]
2.8
84
0
84
0
[ -8.4375, 137.724609375, 115.6640625, 83.14453125, 4.130859375, -0.16764459013938904 ]
[ -8.61328125, 138.076171875, 117.421875, 83.056640625, 4.39453125, 0.48010972142219543 ]
2.833333
85
0
85
0
[ -8.4375, 137.724609375, 115.6640625, 83.14453125, 4.482421875, -0.16764459013938904 ]
[ -8.61328125, 138.076171875, 117.421875, 83.056640625, 4.39453125, 0.48010972142219543 ]
2.866667
86
0
86
0
[ -8.4375, 137.724609375, 115.6640625, 83.14453125, 4.5703125, -0.16764459013938904 ]
[ -8.61328125, 138.076171875, 117.421875, 83.056640625, 4.39453125, 0.48010972142219543 ]
2.9
87
0
87
0
[ -8.4375, 137.724609375, 115.6640625, 83.14453125, 4.658203125, -0.16764459013938904 ]
[ -8.61328125, 138.076171875, 117.421875, 83.056640625, 4.39453125, 0.48010972142219543 ]
2.933333
88
0
88
0
[ -8.4375, 137.724609375, 115.6640625, 83.14453125, 4.658203125, -0.16764459013938904 ]
[ -8.61328125, 138.076171875, 117.421875, 83.056640625, 4.39453125, 0.48010972142219543 ]
2.966667
89
0
89
0
[ -8.4375, 137.724609375, 115.6640625, 83.14453125, 4.658203125, -0.16764459013938904 ]
[ -8.61328125, 138.076171875, 117.421875, 83.056640625, 4.39453125, 0.48010972142219543 ]
3
90
0
90
0
[ -8.4375, 137.724609375, 115.6640625, 83.14453125, 4.39453125, -0.16764459013938904 ]
[ -8.61328125, 138.076171875, 117.421875, 83.056640625, 4.39453125, 0.48010972142219543 ]
3.033333
91
0
91
0
[ -8.4375, 137.724609375, 115.751953125, 83.14453125, 4.04296875, -0.16764459013938904 ]
[ -8.61328125, 138.076171875, 117.421875, 83.056640625, 4.39453125, 0.48010972142219543 ]
3.066667
92
0
92
0
[ -8.4375, 137.724609375, 115.751953125, 83.14453125, 3.955078125, -0.16764459013938904 ]
[ -8.61328125, 138.076171875, 117.421875, 83.056640625, 4.39453125, 0.48010972142219543 ]
3.1
93
0
93
0
[ -8.4375, 137.724609375, 115.751953125, 83.14453125, 4.04296875, -0.16764459013938904 ]
[ -8.61328125, 138.076171875, 117.421875, 83.056640625, 4.21875, 0.48010972142219543 ]
3.133333
94
0
94
0
[ -8.4375, 137.724609375, 115.751953125, 83.14453125, 4.130859375, -0.16764459013938904 ]
[ -8.61328125, 138.076171875, 117.421875, 83.056640625, 4.21875, 0.48010972142219543 ]
3.166667
95
0
95
0
[ -8.525390625, 137.724609375, 115.6640625, 83.14453125, 4.04296875, -0.16764459013938904 ]
[ -8.61328125, 138.076171875, 117.421875, 83.056640625, 4.21875, 0.48010972142219543 ]
3.2
96
0
96
0
[ -9.052734375, 137.724609375, 115.6640625, 83.14453125, 3.955078125, -0.16764459013938904 ]
[ -8.61328125, 138.076171875, 117.421875, 83.056640625, 4.21875, 0.48010972142219543 ]
3.233333
97
0
97
0
[ -9.931640625, 137.724609375, 115.6640625, 83.14453125, 3.8671875, -0.16764459013938904 ]
[ -8.61328125, 138.076171875, 117.421875, 83.056640625, 4.21875, 0.48010972142219543 ]
3.266667
98
0
98
0
[ -11.162109375, 137.724609375, 115.6640625, 83.14453125, 3.8671875, -0.16764459013938904 ]
[ -8.701171875, 138.076171875, 117.421875, 83.056640625, 4.21875, 0.48010972142219543 ]
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": 2,
    "total_frames": 1792,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "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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