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so100_test2

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Robotics
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1K - 10K
Tags:
LeRobot
so100_bimanual
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
29.8
frame_index
int64
0
893
episode_index
int64
0
1
index
int64
0
1.79k
task_index
int64
0
0
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[ 84.375, 176.748046875, 152.2265625, 52.91015625, -12.48046875, 9.71337604522705, 132.1875, 114.169921875, 138.69140625, 14.23828125, -1.318359375, 25.73476791381836 ]
2.833333
85
0
85
0
[ 84.638671875, 177.890625, 151.171875, 52.03125, -13.095703125, 10.272727012634277, 132.5390625, 117.0703125, 141.943359375, 12.65625, -2.109375, 26.55172348022461 ]
[ 84.375, 176.8359375, 152.2265625, 52.91015625, -12.48046875, 9.71337604522705, 132.1875, 114.169921875, 139.833984375, 14.23828125, -1.318359375, 25.73476791381836 ]
2.866667
86
0
86
0
[ 84.638671875, 177.978515625, 151.171875, 52.03125, -13.095703125, 10.272727012634277, 132.5390625, 117.0703125, 142.734375, 12.65625, -2.109375, 26.55172348022461 ]
[ 84.375, 176.8359375, 152.2265625, 52.91015625, -12.48046875, 9.71337604522705, 132.1875, 114.169921875, 140.888671875, 14.23828125, -1.318359375, 25.73476791381836 ]
2.9
87
0
87
0
[ 84.638671875, 177.978515625, 151.171875, 52.03125, -13.095703125, 10.272727012634277, 132.5390625, 117.0703125, 143.525390625, 12.65625, -2.109375, 26.55172348022461 ]
[ 84.375, 176.8359375, 152.2265625, 52.91015625, -12.48046875, 9.71337604522705, 132.1875, 114.169921875, 141.85546875, 14.23828125, -1.318359375, 25.73476791381836 ]
2.933333
88
0
88
0
[ 84.638671875, 177.978515625, 151.171875, 52.03125, -13.095703125, 10.272727012634277, 132.626953125, 117.24609375, 144.052734375, 12.65625, -2.109375, 26.55172348022461 ]
[ 84.375, 176.8359375, 152.2265625, 52.91015625, -12.48046875, 9.71337604522705, 132.1875, 114.169921875, 142.91015625, 14.23828125, -1.318359375, 25.73476791381836 ]
2.966667
89
0
89
0
[ 84.638671875, 177.978515625, 151.259765625, 52.03125, -13.095703125, 10.272727012634277, 132.71484375, 117.24609375, 144.31640625, 12.65625, -2.109375, 26.55172348022461 ]
[ 84.375, 176.8359375, 152.2265625, 52.91015625, -12.48046875, 9.71337604522705, 132.1875, 114.169921875, 143.876953125, 14.23828125, -1.318359375, 25.73476791381836 ]
3
90
0
90
0
[ 84.638671875, 177.978515625, 151.259765625, 52.03125, -13.095703125, 10.272727012634277, 132.71484375, 117.24609375, 144.31640625, 12.65625, -2.109375, 26.55172348022461 ]
[ 84.375, 176.8359375, 152.2265625, 52.91015625, -12.48046875, 9.71337604522705, 132.1875, 114.169921875, 144.66796875, 14.23828125, -1.318359375, 25.73476791381836 ]
3.033333
91
0
91
0
[ 84.638671875, 177.978515625, 151.259765625, 52.03125, -13.095703125, 10.272727012634277, 132.71484375, 117.24609375, 144.404296875, 12.65625, -2.109375, 26.55172348022461 ]
[ 84.375, 176.8359375, 152.2265625, 52.91015625, -12.48046875, 9.71337604522705, 132.1875, 114.169921875, 145.01953125, 14.23828125, -1.318359375, 25.73476791381836 ]
3.066667
92
0
92
0
[ 84.638671875, 177.978515625, 151.34765625, 52.03125, -13.095703125, 10.272727012634277, 132.71484375, 117.24609375, 144.404296875, 12.65625, -2.109375, 26.465517044067383 ]
[ 84.375, 176.8359375, 152.2265625, 52.91015625, -12.48046875, 9.71337604522705, 132.1875, 114.169921875, 145.107421875, 14.23828125, -1.318359375, 25.73476791381836 ]
3.1
93
0
93
0
[ 84.638671875, 177.978515625, 151.34765625, 52.03125, -13.095703125, 10.272727012634277, 132.71484375, 117.24609375, 144.404296875, 12.65625, -2.109375, 26.29310417175293 ]
[ 84.375, 176.8359375, 152.2265625, 52.91015625, -12.48046875, 9.71337604522705, 132.275390625, 114.169921875, 145.107421875, 14.23828125, -1.318359375, 25.73476791381836 ]
3.133333
94
0
94
0
[ 84.638671875, 177.978515625, 151.34765625, 52.03125, -13.095703125, 10.272727012634277, 132.71484375, 117.24609375, 144.404296875, 12.65625, -2.109375, 26.29310417175293 ]
[ 84.375, 176.8359375, 152.2265625, 52.91015625, -12.48046875, 9.71337604522705, 132.36328125, 114.169921875, 145.107421875, 14.23828125, -1.318359375, 25.73476791381836 ]
3.166667
95
0
95
0
[ 84.638671875, 177.978515625, 151.435546875, 52.03125, -13.095703125, 10.272727012634277, 132.71484375, 117.24609375, 144.404296875, 12.65625, -2.109375, 26.55172348022461 ]
[ 84.375, 176.8359375, 152.2265625, 52.91015625, -12.48046875, 9.71337604522705, 132.36328125, 114.169921875, 145.1953125, 14.23828125, -1.318359375, 25.73476791381836 ]
3.2
96
0
96
0
[ 84.638671875, 177.978515625, 151.435546875, 52.03125, -13.095703125, 10.272727012634277, 132.5390625, 117.24609375, 144.404296875, 12.568359375, -2.109375, 26.55172348022461 ]
[ 84.375, 176.8359375, 152.2265625, 52.91015625, -12.48046875, 9.71337604522705, 132.36328125, 114.169921875, 145.1953125, 14.23828125, -1.318359375, 25.73476791381836 ]
3.233333
97
0
97
0
[ 84.638671875, 177.978515625, 151.435546875, 52.03125, -13.095703125, 10.181818008422852, 132.01171875, 117.333984375, 144.31640625, 12.48046875, -2.109375, 26.55172348022461 ]
[ 84.375, 176.8359375, 152.2265625, 52.91015625, -12.48046875, 9.71337604522705, 132.36328125, 114.169921875, 145.1953125, 14.23828125, -1.318359375, 25.73476791381836 ]
3.266667
98
0
98
0
[ 84.638671875, 178.06640625, 151.34765625, 52.03125, -13.0078125, 10.181818008422852, 131.8359375, 117.685546875, 144.228515625, 12.12890625, -1.93359375, 26.55172348022461 ]
[ 84.375, 176.8359375, 152.2265625, 52.91015625, -12.48046875, 9.71337604522705, 132.36328125, 114.169921875, 145.1953125, 14.23828125, -1.318359375, 25.73476791381836 ]
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_bimanual",
    "total_episodes": 2,
    "total_frames": 1787,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
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    "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": {
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            "names": [
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                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_gripper"
            ]
        },
        "observation.state": {
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                12
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            "names": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_gripper"
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        "observation.images.third_person": {
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            "names": [
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                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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        },
        "observation.images.left_wrist": {
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        "observation.images.right_wrist": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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