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float32
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22.2
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int64
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666
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[ 32.958984375, 93.1640625, 130.517578125, -19.072265625, 79.453125, 6.648199558258057 ]
2.2
66
0
66
0
[ 32.50674819946289, 88.12085723876953, 124.74455261230469, -19.846193313598633, 80.63345336914062, 7.675014972686768 ]
[ 33.22265625, 91.0546875, 129.375, -19.16015625, 79.8046875, 6.994459629058838 ]
2.233333
67
0
67
0
[ 33.770362854003906, 85.53791809082031, 123.19481658935547, -21.61015510559082, 79.84752655029297, 7.306280612945557 ]
[ 33.22265625, 90.087890625, 128.759765625, -19.248046875, 79.98046875, 7.202216148376465 ]
2.266667
68
0
68
0
[ 34.17434310913086, 85.34161376953125, 122.47300720214844, -21.64845848083496, 78.85124206542969, 7.005295276641846 ]
[ 32.607421875, 88.59375, 127.265625, -19.248046875, 80.15625, 7.409972190856934 ]
2.3
69
0
69
0
[ 34.33982849121094, 84.48936462402344, 122.16844940185547, -21.655466079711914, 78.65460205078125, 7.252666473388672 ]
[ 32.607421875, 87.5390625, 126.5625, -19.86328125, 80.068359375, 7.409972190856934 ]
2.333333
70
0
70
0
[ 34.840362548828125, 83.39814758300781, 121.66866302490234, -22.487592697143555, 78.0440673828125, 7.927741050720215 ]
[ 33.662109375, 85.693359375, 124.98046875, -20.56640625, 79.716796875, 7.409972190856934 ]
2.366667
71
0
71
0
[ 34.92049789428711, 83.19203186035156, 121.446533203125, -22.33991813659668, 78.01353454589844, 8.003592491149902 ]
[ 34.189453125, 84.990234375, 124.62890625, -20.654296875, 79.365234375, 7.409972190856934 ]
2.4
72
0
72
0
[ 34.48567199707031, 82.42151641845703, 120.75777435302734, -22.755311965942383, 78.10116577148438, 7.7759318351745605 ]
[ 34.1015625, 83.583984375, 123.75, -21.4453125, 78.662109375, 7.409972190856934 ]
2.433333
73
0
73
0
[ 34.93840408325195, 82.3237075805664, 120.96318054199219, -22.73652458190918, 77.45966339111328, 9.376134872436523 ]
[ 34.013671875, 83.3203125, 123.662109375, -21.533203125, 78.486328125, 7.6177287101745605 ]
2.466667
74
0
74
0
[ 35.053592681884766, 82.19351196289062, 120.715576171875, -22.90574073791504, 77.27325439453125, 8.566558837890625 ]
[ 34.27734375, 82.6171875, 123.046875, -21.708984375, 78.3984375, 7.6177287101745605 ]
2.5
75
0
75
0
[ 34.39510726928711, 81.39077758789062, 120.08149719238281, -22.33198356628418, 77.82025146484375, 10.788958549499512 ]
[ 34.8046875, 82.353515625, 122.783203125, -21.884765625, 78.22265625, 7.8947367668151855 ]
2.533333
76
0
76
0
[ 34.96967697143555, 81.69131469726562, 120.8544921875, -23.092859268188477, 77.34957885742188, 11.329353332519531 ]
[ 34.98046875, 82.265625, 122.783203125, -21.884765625, 77.87109375, 8.587257385253906 ]
2.566667
77
0
77
0
[ 34.21546936035156, 81.301025390625, 119.9277572631836, -22.457815170288086, 77.85259246826172, 12.887809753417969 ]
[ 34.98046875, 81.650390625, 122.34375, -22.060546875, 77.87109375, 8.587257385253906 ]
2.6
78
0
78
0
[ 34.039188385009766, 80.7945556640625, 119.74079895019531, -22.706480026245117, 78.29995727539062, 13.0419340133667 ]
[ 34.62890625, 81.298828125, 122.16796875, -22.236328125, 77.783203125, 9.833794593811035 ]
2.633333
79
0
79
0
[ 34.088134765625, 80.55647277832031, 119.77291107177734, -22.628759384155273, 77.82254028320312, 16.322532653808594 ]
[ 34.365234375, 81.03515625, 122.080078125, -22.236328125, 77.6953125, 10.872575759887695 ]
2.666667
80
0
80
0
[ 33.857486724853516, 80.38447570800781, 119.30345916748047, -22.365854263305664, 77.91909790039062, 16.267131805419922 ]
[ 34.27734375, 80.771484375, 121.640625, -22.236328125, 77.958984375, 11.911356925964355 ]
2.7
81
0
81
0
[ 33.75154113769531, 80.20378112792969, 119.11589050292969, -21.984018325805664, 77.91181945800781, 17.296344757080078 ]
[ 34.27734375, 80.33203125, 121.552734375, -22.236328125, 78.046875, 14.058171272277832 ]
2.733333
82
0
82
0
[ 33.510780334472656, 80.41218566894531, 119.13092803955078, -22.19129753112793, 78.10845947265625, 17.05535125732422 ]
[ 34.453125, 80.15625, 121.2890625, -22.236328125, 78.046875, 15.304709434509277 ]
2.766667
83
0
83
0
[ 33.04684829711914, 80.35448455810547, 118.61065673828125, -21.041067123413086, 78.33291625976562, 18.29414176940918 ]
[ 34.453125, 79.892578125, 121.025390625, -22.060546875, 78.046875, 16.48199462890625 ]
2.8
84
0
84
0
[ 33.18461608886719, 80.29883575439453, 117.95178985595703, -20.498254776000977, 78.34626007080078, 18.256980895996094 ]
[ 34.1015625, 79.892578125, 121.025390625, -22.060546875, 78.046875, 16.551246643066406 ]
2.833333
85
0
85
0
[ 32.735164642333984, 80.30827331542969, 117.84170532226562, -20.201047897338867, 78.5047378540039, 18.81307601928711 ]
[ 33.3984375, 79.892578125, 120.5859375, -21.4453125, 78.046875, 17.451522827148438 ]
2.866667
86
0
86
0
[ 32.38382339477539, 80.40232849121094, 117.86492919921875, -19.71235466003418, 78.66079711914062, 18.939884185791016 ]
[ 33.134765625, 79.892578125, 120.146484375, -20.91796875, 78.046875, 17.728532791137695 ]
2.9
87
0
87
0
[ 32.10646057128906, 80.8905029296875, 117.05684661865234, -18.922021865844727, 79.2408447265625, 17.776870727539062 ]
[ 32.958984375, 79.892578125, 119.970703125, -20.56640625, 78.046875, 18.074792861938477 ]
2.933333
88
0
88
0
[ 33.330718994140625, 81.433837890625, 118.20304107666016, -19.943830490112305, 78.24413299560547, 16.861167907714844 ]
[ 33.046875, 79.892578125, 119.794921875, -20.126953125, 78.134765625, 18.421052932739258 ]
2.966667
89
0
89
0
[ 32.89118957519531, 81.04487609863281, 118.0694351196289, -19.542211532592773, 78.56775665283203, 17.613910675048828 ]
[ 32.958984375, 79.892578125, 119.70703125, -19.6875, 78.486328125, 18.421052932739258 ]
3
90
0
90
0
[ 32.14308547973633, 81.15216064453125, 116.94686126708984, -18.0456485748291, 78.75634765625, 18.176969528198242 ]
[ 32.783203125, 79.892578125, 119.35546875, -19.423828125, 78.75, 18.21329689025879 ]
3.033333
91
0
91
0
[ 31.67595672607422, 81.87643432617188, 116.55766296386719, -16.813867568969727, 78.81990051269531, 16.2513427734375 ]
[ 32.607421875, 79.892578125, 119.35546875, -19.423828125, 78.57421875, 17.79778480529785 ]
3.066667
92
0
92
0
[ 31.821308135986328, 83.66630554199219, 117.7354965209961, -16.808115005493164, 77.719970703125, 14.164727210998535 ]
[ 32.51953125, 79.892578125, 119.267578125, -19.16015625, 78.57421875, 17.79778480529785 ]
3.1
93
0
93
0
[ 32.25266647338867, 84.43064880371094, 118.51611328125, -17.666471481323242, 77.30441284179688, 12.610577583312988 ]
[ 32.431640625, 79.892578125, 118.740234375, -17.75390625, 78.57421875, 17.659278869628906 ]
3.133333
94
0
94
0
[ 32.123199462890625, 84.96247863769531, 118.8399658203125, -17.417016983032227, 77.12462615966797, 12.027327537536621 ]
[ 32.431640625, 80.068359375, 118.65234375, -17.314453125, 78.57421875, 16.68975067138672 ]
3.166667
95
0
95
0
[ 31.246932983398438, 85.22453308105469, 118.23470306396484, -16.104970932006836, 77.465087890625, 11.54966926574707 ]
[ 32.34375, 80.771484375, 119.00390625, -17.314453125, 78.046875, 15.373961448669434 ]
3.2
96
0
96
0
[ 30.622512817382812, 87.91535949707031, 119.36652374267578, -15.101747512817383, 77.702392578125, 9.162211418151855 ]
[ 32.16796875, 81.474609375, 119.1796875, -17.314453125, 77.783203125, 13.988919258117676 ]
3.233333
97
0
97
0
[ 30.581741333007812, 88.08689880371094, 119.55416870117188, -15.397558212280273, 77.22616577148438, 8.409626007080078 ]
[ 32.080078125, 82.001953125, 119.1796875, -17.138671875, 77.6953125, 13.088643074035645 ]
3.266667
98
0
98
0
[ 29.190837860107422, 92.62135314941406, 121.8347396850586, -13.76268196105957, 77.6230697631836, 7.086175918579102 ]
[ 31.640625, 82.880859375, 119.267578125, -16.083984375, 77.6953125, 12.11911392211914 ]
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": 4,
    "total_frames": 1855,
    "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": [
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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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.realsense camera": {
            "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": {
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            "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
        }
    }
}

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