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float32
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29.7
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[ -5.76064395904541, 90.16249084472656, 104.78699493408203, 55.303218841552734, -13.010147094726562, 0.1486806869506836 ]
[ -7.3828125, 83.408203125, 104.4140625, 54.84375, -13.095703125, 0.7358351945877075 ]
2.166667
65
0
65
0
[ -5.680238723754883, 91.31868743896484, 104.77088928222656, 55.37725067138672, -13.049420356750488, 0.09839916229248047 ]
[ -7.119140625, 84.7265625, 104.58984375, 55.107421875, -13.18359375, 0.7358351945877075 ]
2.2
66
0
66
0
[ -5.588360786437988, 90.85759735107422, 104.71009826660156, 55.31050491333008, -13.040986061096191, 0.10222530364990234 ]
[ -6.943359375, 85.95703125, 104.853515625, 55.01953125, -13.095703125, 0.7358351945877075 ]
2.233333
67
0
67
0
[ -3.145111083984375, 98.79464721679688, 107.90245819091797, 55.5268440246582, -12.807426452636719, 0.12039947509765625 ]
[ -6.767578125, 87.099609375, 105.029296875, 55.107421875, -13.447265625, 0.7358351945877075 ]
2.266667
68
0
68
0
[ -3.2320480346679688, 97.56340026855469, 107.37601470947266, 55.26877975463867, -12.93263053894043, 0.08744287490844727 ]
[ -6.416015625, 87.626953125, 104.94140625, 55.107421875, -13.271484375, 0.7358351945877075 ]
2.3
69
0
69
0
[ -1.7546930313110352, 101.19142150878906, 109.26558685302734, 55.42174530029297, -12.919681549072266, 0.055341243743896484 ]
[ -5.712890625, 88.857421875, 105.732421875, 55.107421875, -13.18359375, 0.7358351945877075 ]
2.333333
70
0
70
0
[ -1.5009984970092773, 101.67292785644531, 109.39921569824219, 55.257896423339844, -12.799320220947266, 0.1142578125 ]
[ -4.74609375, 90.791015625, 107.138671875, 55.107421875, -13.271484375, 0.7358351945877075 ]
2.366667
71
0
71
0
[ -0.5283231735229492, 102.53683471679688, 109.98758697509766, 55.14556884765625, -12.885234832763672, 0.09845781326293945 ]
[ -3.1640625, 93.515625, 108.193359375, 55.107421875, -13.271484375, 0.7358351945877075 ]
2.4
72
0
72
0
[ 1.0736684799194336, 107.7777328491211, 112.45757293701172, 55.26411056518555, -12.77659797668457, 0.10648345947265625 ]
[ -2.373046875, 96.15234375, 109.072265625, 55.107421875, -12.919921875, 0.7358351945877075 ]
2.433333
73
0
73
0
[ 2.4358930587768555, 107.70986938476562, 112.79914855957031, 54.98932647705078, -12.975970268249512, 0.06676101684570312 ]
[ -1.845703125, 98.173828125, 109.6875, 55.107421875, -12.919921875, 0.7358351945877075 ]
2.466667
74
0
74
0
[ 3.122344970703125, 109.0828857421875, 113.35774230957031, 55.07106399536133, -12.924869537353516, 0.0727992057800293 ]
[ -1.318359375, 99.84375, 110.830078125, 55.107421875, -13.095703125, 0.7358351945877075 ]
2.5
75
0
75
0
[ 6.2969970703125, 113.220458984375, 115.95063018798828, 54.96979522705078, -13.07226276397705, -0.00026607513427734375 ]
[ -0.087890625, 102.041015625, 112.236328125, 55.107421875, -13.359375, 0.7358351945877075 ]
2.533333
76
0
76
0
[ 7.657190322875977, 113.49586486816406, 115.91514587402344, 54.74699401855469, -13.169509887695312, 0.0006766319274902344 ]
[ 1.845703125, 104.0625, 113.115234375, 55.107421875, -13.271484375, 0.7358351945877075 ]
2.566667
77
0
77
0
[ 9.609847068786621, 116.0799560546875, 117.42593383789062, 54.72929382324219, -13.188285827636719, 0.07589578628540039 ]
[ 3.1640625, 106.34765625, 114.169921875, 55.107421875, -12.83203125, 0.7358351945877075 ]
2.6
78
0
78
0
[ 12.324007034301758, 117.02277374267578, 118.1913833618164, 54.408023834228516, -13.514257431030273, -0.038813114166259766 ]
[ 4.21875, 108.6328125, 115.48828125, 55.107421875, -13.095703125, 0.5886681079864502 ]
2.633333
79
0
79
0
[ 11.725105285644531, 118.9305648803711, 118.93488311767578, 54.542423248291016, -13.409070014953613, -0.0016527175903320312 ]
[ 6.064453125, 110.56640625, 116.455078125, 55.01953125, -13.359375, 0.5886681079864502 ]
2.666667
80
0
80
0
[ 14.21247673034668, 118.79503631591797, 119.61685180664062, 54.10234069824219, -13.599851608276367, -0.029263019561767578 ]
[ 8.61328125, 112.587890625, 117.685546875, 55.01953125, -13.359375, 0.5886681079864502 ]
2.7
81
0
81
0
[ 16.84485626220703, 121.2072525024414, 120.74226379394531, 54.22133255004883, -13.943461418151855, -0.15112638473510742 ]
[ 10.546875, 114.345703125, 118.564453125, 54.931640625, -12.919921875, 0.5886681079864502 ]
2.733333
82
0
82
0
[ 18.227699279785156, 122.40635681152344, 121.58116149902344, 54.146148681640625, -14.054494857788086, -0.09661054611206055 ]
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2.766667
83
0
83
0
[ 22.629535675048828, 124.18775177001953, 123.16873168945312, 53.76304626464844, -14.417549133300781, -0.18882083892822266 ]
[ 12.392578125, 116.982421875, 120.322265625, 54.84375, -13.88671875, 0.5150846242904663 ]
2.8
84
0
84
0
[ 25.02290916442871, 125.39628601074219, 124.1090087890625, 53.84963607788086, -14.75574016571045, -0.16918468475341797 ]
[ 14.765625, 118.564453125, 121.376953125, 54.84375, -13.88671875, 0.5150846242904663 ]
2.833333
85
0
85
0
[ 27.20140266418457, 124.98986053466797, 124.50967407226562, 53.413997650146484, -14.942169189453125, -0.15163469314575195 ]
[ 17.9296875, 120.234375, 122.34375, 54.580078125, -13.53515625, 0.5150846242904663 ]
2.866667
86
0
86
0
[ 29.309757232666016, 124.57617950439453, 124.8148422241211, 52.96549606323242, -15.190298080444336, -0.1492633819580078 ]
[ 20.390625, 121.81640625, 123.57421875, 54.580078125, -13.974609375, 0.5150846242904663 ]
2.9
87
0
87
0
[ 31.796279907226562, 124.78240203857422, 125.66096496582031, 52.64197540283203, -15.476118087768555, -0.14063167572021484 ]
[ 22.412109375, 122.431640625, 124.27734375, 54.228515625, -14.4140625, 0.5150846242904663 ]
2.933333
88
0
88
0
[ 32.8660888671875, 124.86566162109375, 126.08738708496094, 52.4669189453125, -15.573514938354492, -0.10911703109741211 ]
[ 24.9609375, 122.607421875, 124.8046875, 53.876953125, -14.853515625, 0.5150846242904663 ]
2.966667
89
0
89
0
[ 33.6479606628418, 122.86670684814453, 125.51107788085938, 52.046844482421875, -15.5593900680542, -0.0876469612121582 ]
[ 28.125, 122.783203125, 125.595703125, 53.525390625, -14.677734375, 0.5150846242904663 ]
3
90
0
90
0
[ 37.592140197753906, 123.88816833496094, 127.62006378173828, 51.18870162963867, -16.249454498291016, -0.1844320297241211 ]
[ 30.146484375, 122.87109375, 126.123046875, 53.349609375, -14.677734375, 0.5150846242904663 ]
3.033333
91
0
91
0
[ 37.94490051269531, 122.95132446289062, 127.6317138671875, 50.922813415527344, -16.21404266357422, -0.19844818115234375 ]
[ 31.2890625, 122.6953125, 126.123046875, 52.998046875, -14.94140625, 0.5150846242904663 ]
3.066667
92
0
92
0
[ 38.881317138671875, 121.47492218017578, 127.63227844238281, 50.28829574584961, -16.27210235595703, -0.2003035545349121 ]
[ 32.255859375, 122.607421875, 126.5625, 52.294921875, -15.46875, 0.44150111079216003 ]
3.1
93
0
93
0
[ 40.32100296020508, 120.43385314941406, 128.13922119140625, 49.5606575012207, -16.442224502563477, -0.20589017868041992 ]
[ 34.453125, 122.607421875, 127.44140625, 51.943359375, -15.99609375, 0.36791759729385376 ]
3.133333
94
0
94
0
[ 41.4327507019043, 119.46049499511719, 128.7032470703125, 48.79866409301758, -16.55961799621582, -0.24558115005493164 ]
[ 36.9140625, 121.904296875, 127.6171875, 51.416015625, -15.64453125, 0.2943340539932251 ]
3.166667
95
0
95
0
[ 42.15085220336914, 118.29548645019531, 129.17037963867188, 47.981136322021484, -16.746557235717773, -0.24999761581420898 ]
[ 38.14453125, 121.025390625, 128.056640625, 50.712890625, -15.732421875, 0.2943340539932251 ]
3.2
96
0
96
0
[ 42.579402923583984, 116.09738159179688, 129.1074676513672, 47.08354949951172, -16.850833892822266, -0.20660829544067383 ]
[ 38.671875, 120.146484375, 128.671875, 50.009765625, -15.99609375, 0.2943340539932251 ]
3.233333
97
0
97
0
[ 42.37425994873047, 115.4618911743164, 128.68624877929688, 46.992835998535156, -16.705135345458984, -0.1881566047668457 ]
[ 39.7265625, 119.00390625, 129.287109375, 49.306640625, -16.611328125, 0.2943340539932251 ]
3.266667
98
0
98
0
[ 42.67694854736328, 116.10660552978516, 129.66744995117188, 46.64958953857422, -16.838809967041016, -0.1769871711730957 ]
[ 41.396484375, 117.685546875, 129.287109375, 48.603515625, -16.34765625, 0.2943340539932251 ]
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": "so101",
    "total_episodes": 1,
    "total_frames": 891,
    "total_tasks": 1,
    "total_videos": 1,
    "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": [
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            "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"
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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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
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        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

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