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salhotra
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eval_act_so100wrist_waterproof_connector

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Robotics
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LeRobot
tutorial
so100wrist
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action
sequence
observation.state
sequence
timestamp
float32
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14.1
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int64
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423
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index
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task_index
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[ 1.142578125, 162.685546875, 160.3125, 54.84375, -79.013671875, 24.672639846801758 ]
2.1
63
0
63
0
[ 2.08658766746521, 153.81768798828125, 147.587890625, 54.31767654418945, -79.11009979248047, 30.906482696533203 ]
[ 1.142578125, 160.751953125, 158.5546875, 54.84375, -79.013671875, 25.775327682495117 ]
2.133333
64
0
64
0
[ 2.261308431625366, 152.44639587402344, 146.533203125, 54.29104995727539, -79.10865783691406, 32.30378723144531 ]
[ 1.142578125, 158.90625, 156.708984375, 54.84375, -79.013671875, 27.222606658935547 ]
2.166667
65
0
65
0
[ 2.4227867126464844, 150.49923706054688, 144.68927001953125, 54.29553985595703, -79.10254669189453, 33.411720275878906 ]
[ 1.669921875, 156.884765625, 154.6875, 54.84375, -79.013671875, 28.25637435913086 ]
2.2
66
0
66
0
[ 2.7102320194244385, 147.92819213867188, 142.5426483154297, 54.3538703918457, -79.09649658203125, 34.720577239990234 ]
[ 2.197265625, 154.16015625, 152.666015625, 54.84375, -79.013671875, 29.772571563720703 ]
2.233333
67
0
67
0
[ 2.9453909397125244, 145.7799835205078, 140.8203125, 54.377838134765625, -79.08680725097656, 36.45616149902344 ]
[ 2.28515625, 152.314453125, 150.99609375, 54.84375, -79.013671875, 31.288766860961914 ]
2.266667
68
0
68
0
[ 3.0891807079315186, 143.30435180664062, 138.75193786621094, 54.40392303466797, -79.0666732788086, 37.407997131347656 ]
[ 2.28515625, 149.853515625, 148.974609375, 54.84375, -79.013671875, 32.598209381103516 ]
2.3
69
0
69
0
[ 3.208564519882202, 141.3313751220703, 137.1492462158203, 54.46178436279297, -79.0441665649414, 38.16790008544922 ]
[ 2.548828125, 147.568359375, 147.12890625, 54.84375, -79.013671875, 34.04548645019531 ]
2.333333
70
0
70
0
[ 3.3246164321899414, 138.92355346679688, 135.14117431640625, 54.382110595703125, -79.00070190429688, 39.511932373046875 ]
[ 2.98828125, 145.37109375, 145.283203125, 54.84375, -79.013671875, 35.42384338378906 ]
2.366667
71
0
71
0
[ 3.4330878257751465, 137.2054443359375, 133.8024444580078, 54.43117904663086, -78.97640228271484, 40.26615905761719 ]
[ 3.076171875, 143.173828125, 143.525390625, 54.84375, -79.013671875, 36.38869857788086 ]
2.4
72
0
72
0
[ 3.5766994953155518, 133.9110870361328, 131.50390625, 54.4314079284668, -78.9205322265625, 41.51643371582031 ]
[ 3.076171875, 140.80078125, 141.767578125, 54.84375, -79.013671875, 37.42246627807617 ]
2.433333
73
0
73
0
[ 3.6365368366241455, 132.28550720214844, 129.98550415039062, 54.4557991027832, -78.87516021728516, 42.279361724853516 ]
[ 3.1640625, 138.69140625, 140.09765625, 54.84375, -79.013671875, 38.59407424926758 ]
2.466667
74
0
74
0
[ 3.6654162406921387, 129.5194854736328, 127.8125, 54.37455749511719, -78.81465148925781, 42.73614501953125 ]
[ 3.427734375, 136.0546875, 138.076171875, 54.84375, -79.013671875, 39.55892562866211 ]
2.5
75
0
75
0
[ 3.742502212524414, 127.23912811279297, 126.02312469482422, 54.3835334777832, -78.7583999633789, 43.458221435546875 ]
[ 3.515625, 133.59375, 136.23046875, 54.84375, -79.013671875, 40.73052978515625 ]
2.533333
76
0
76
0
[ 3.7973291873931885, 124.5616226196289, 124.384765625, 54.3542366027832, -78.70345306396484, 44.03614044189453 ]
[ 3.603515625, 131.396484375, 134.560546875, 54.84375, -79.013671875, 41.41971206665039 ]
2.566667
77
0
77
0
[ 3.8336753845214844, 122.06021881103516, 122.5390625, 54.39331817626953, -78.6416015625, 44.458251953125 ]
[ 3.515625, 129.0234375, 132.802734375, 54.84375, -79.013671875, 42.108890533447266 ]
2.6
78
0
78
0
[ 3.7923409938812256, 120.16265869140625, 120.341796875, 54.36949920654297, -78.60161590576172, 44.61398696899414 ]
[ 3.69140625, 126.2109375, 130.78125, 54.84375, -79.013671875, 42.86698532104492 ]
2.633333
79
0
79
0
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[ 3.779296875, 123.837890625, 129.111328125, 54.84375, -79.013671875, 43.418331146240234 ]
2.666667
80
0
80
0
[ 3.8195509910583496, 116.36070251464844, 117.265625, 54.381744384765625, -78.51007843017578, 44.91835403442383 ]
[ 3.779296875, 121.640625, 127.44140625, 54.84375, -78.92578125, 43.76292419433594 ]
2.7
81
0
81
0
[ 3.802361488342285, 113.84481811523438, 115.33203125, 54.44158935546875, -78.4537353515625, 45.09558868408203 ]
[ 3.779296875, 119.267578125, 125.5078125, 54.84375, -78.75, 44.176429748535156 ]
2.733333
82
0
82
0
[ 3.7595624923706055, 111.01709747314453, 113.57421875, 54.487308502197266, -78.38587188720703, 45.248191833496094 ]
[ 3.779296875, 117.24609375, 123.837890625, 54.84375, -78.75, 44.383182525634766 ]
2.766667
83
0
83
0
[ 3.732102870941162, 108.27965545654297, 111.904296875, 54.479122161865234, -78.32910919189453, 45.244354248046875 ]
[ 3.779296875, 114.9609375, 122.080078125, 54.84375, -78.57421875, 44.589935302734375 ]
2.8
84
0
84
0
[ 3.667722225189209, 106.50151062011719, 109.794921875, 54.55498123168945, -78.28931427001953, 45.324424743652344 ]
[ 3.779296875, 112.5, 120.05859375, 54.84375, -78.57421875, 44.79669189453125 ]
2.833333
85
0
85
0
[ 3.642256259918213, 105.0584945678711, 108.037109375, 54.52942657470703, -78.26637268066406, 45.315330505371094 ]
[ 3.779296875, 109.6875, 118.30078125, 54.84375, -78.57421875, 44.8656120300293 ]
2.866667
86
0
86
0
[ 3.526822566986084, 103.08367919921875, 106.455078125, 54.507450103759766, -78.22711181640625, 45.37323760986328 ]
[ 3.779296875, 107.666015625, 116.630859375, 54.84375, -78.57421875, 45.003448486328125 ]
2.9
87
0
87
0
[ 3.513786554336548, 101.26525115966797, 104.697265625, 54.568443298339844, -78.20357513427734, 45.45464324951172 ]
[ 3.779296875, 105.8203125, 114.873046875, 54.84375, -78.486328125, 45.003448486328125 ]
2.933333
88
0
88
0
[ 3.4266858100891113, 100.93624114990234, 103.58451843261719, 54.55323791503906, -78.194580078125, 45.43755340576172 ]
[ 3.779296875, 103.798828125, 113.115234375, 54.84375, -78.3984375, 45.003448486328125 ]
2.966667
89
0
89
0
[ 3.2677271366119385, 98.04595947265625, 101.181640625, 54.53999710083008, -78.16000366210938, 45.584991455078125 ]
[ 3.69140625, 102.12890625, 111.357421875, 54.84375, -78.3984375, 45.14128112792969 ]
3
90
0
90
0
[ 3.200594663619995, 96.61587524414062, 99.775390625, 54.4923210144043, -78.14669036865234, 45.656463623046875 ]
[ 3.69140625, 100.810546875, 109.951171875, 54.84375, -78.3984375, 45.14128112792969 ]
3.033333
91
0
91
0
[ 3.053285598754883, 94.34268188476562, 97.841796875, 54.488800048828125, -78.12825012207031, 45.71704864501953 ]
[ 3.69140625, 98.701171875, 108.10546875, 54.84375, -78.3984375, 45.14128112792969 ]
3.066667
92
0
92
0
[ 3.0982842445373535, 93.97682189941406, 97.24319458007812, 54.53099060058594, -78.12811279296875, 45.826416015625 ]
[ 3.69140625, 96.6796875, 106.171875, 54.84375, -78.3984375, 45.279117584228516 ]
3.1
93
0
93
0
[ 2.9106454849243164, 91.84536743164062, 95.17001342773438, 54.514747619628906, -78.11557006835938, 45.77808380126953 ]
[ 3.603515625, 95.009765625, 104.4140625, 54.84375, -78.3984375, 45.416954040527344 ]
3.133333
94
0
94
0
[ 2.8307945728302, 90.51788330078125, 93.95297241210938, 54.49005126953125, -78.10749816894531, 45.92869567871094 ]
[ 3.603515625, 93.8671875, 103.359375, 54.84375, -78.3984375, 45.416954040527344 ]
3.166667
95
0
95
0
[ 2.54898738861084, 89.39742279052734, 92.93817901611328, 54.34950637817383, -78.09139251708984, 45.778045654296875 ]
[ 3.515625, 92.109375, 101.865234375, 54.84375, -78.3984375, 45.416954040527344 ]
3.2
96
0
96
0
[ 2.517360210418701, 88.28184509277344, 91.91602325439453, 54.378662109375, -78.08963012695312, 45.8397331237793 ]
[ 3.515625, 90.703125, 100.107421875, 54.84375, -78.3984375, 45.485870361328125 ]
3.233333
97
0
97
0
[ 2.375906229019165, 86.64466094970703, 90.2433853149414, 54.424781799316406, -78.07121276855469, 45.953773498535156 ]
[ 3.33984375, 89.296875, 99.052734375, 54.84375, -78.3984375, 45.55479049682617 ]
3.266667
98
0
98
0
[ 2.384742021560669, 85.64874267578125, 89.13077545166016, 54.45672607421875, -78.07315063476562, 45.85049057006836 ]
[ 3.251953125, 87.802734375, 97.998046875, 54.84375, -78.3984375, 45.55479049682617 ]
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": 4,
    "total_frames": 1353,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:4"
    },
    "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
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
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            "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
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            "names": [
                "height",
                "width",
                "channels"
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            "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
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

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