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float32
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2.73
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int64
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1.933333
58
0
58
0
[ -1.104203701019287, -115.81099700927734, 105.9203109741211, 69.2818832397461, 4.144163608551025, 2.5548954010009766 ]
[ -1.6263736486434937, -102.94505310058594, 104.43955993652344, 68.52747344970703, 4.263736248016357, 3.134603500366211 ]
1.966667
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0
59
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[ -1.022679328918457, -115.64702606201172, 105.62793731689453, 68.6082534790039, 4.390657424926758, 2.489274501800537 ]
[ -1.6263736486434937, -102.94505310058594, 104.43955993652344, 68.52747344970703, 4.263736248016357, 3.134603500366211 ]
2
60
0
60
0
[ -1.0122990608215332, -115.49492645263672, 106.22698974609375, 68.60212707519531, 4.450896263122559, 2.4019360542297363 ]
[ -1.6263736486434937, -102.94505310058594, 104.43955993652344, 68.70330047607422, 4.263736248016357, 3.134603500366211 ]
2.033333
61
0
61
0
[ -1.0760226249694824, -115.6329345703125, 105.5240478515625, 68.32241821289062, 4.27406644821167, 2.46848201751709 ]
[ -1.6263736486434937, -102.94505310058594, 104.43955993652344, 68.70330047607422, 4.263736248016357, 3.134603500366211 ]
2.066667
62
0
62
0
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[ -1.6263736486434937, -102.94505310058594, 104.43955993652344, 68.70330047607422, 4.263736248016357, 3.134603500366211 ]
2.1
63
0
63
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[ -1.0872821807861328, -115.41438293457031, 105.84223175048828, 68.2622299194336, 4.3595075607299805, 2.5042872428894043 ]
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2.133333
64
0
64
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2.166667
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65
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[ -1.6263736486434937, -102.94505310058594, 104.43955993652344, 68.52747344970703, 4.263736248016357, 3.134603500366211 ]
2.2
66
0
66
0
[ -1.0677289962768555, -115.7213363647461, 106.20881652832031, 69.28904724121094, 4.366985321044922, 2.527182102203369 ]
[ -1.5384615659713745, -102.94505310058594, 104.43955993652344, 68.70330047607422, 4.263736248016357, 3.134603500366211 ]
2.233333
67
0
67
0
[ -0.9017996788024902, -116.04432678222656, 105.89920806884766, 69.74542999267578, 4.564004898071289, 2.561875820159912 ]
[ -1.5384615659713745, -102.94505310058594, 104.43955993652344, 69.14286041259766, 4.263736248016357, 3.134603500366211 ]
2.266667
68
0
68
0
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[ -1.5384615659713745, -102.94505310058594, 104.43955993652344, 69.23076629638672, 4.263736248016357, 3.134603500366211 ]
2.3
69
0
69
0
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[ -1.4505494832992554, -102.94505310058594, 104.43955993652344, 69.4065933227539, 4.263736248016357, 3.134603500366211 ]
2.333333
70
0
70
0
[ -0.9670000076293945, -116.24590301513672, 105.90196990966797, 69.44697570800781, 4.52155876159668, 2.531069278717041 ]
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2.366667
71
0
71
0
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[ -1.4505494832992554, -102.94505310058594, 104.43955993652344, 69.4945068359375, 4.263736248016357, 3.134603500366211 ]
2.4
72
0
72
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2.433333
73
0
73
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2.466667
74
0
74
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[ -1.4505494832992554, -102.94505310058594, 104.43955993652344, 69.23076629638672, 4.263736248016357, 3.134603500366211 ]
2.5
75
0
75
0
[ -0.8251738548278809, -115.95882415771484, 105.99442291259766, 68.57160949707031, 4.714522361755371, 2.4554762840270996 ]
[ -1.4505494832992554, -102.94505310058594, 104.43955993652344, 69.14286041259766, 4.263736248016357, 3.134603500366211 ]
2.533333
76
0
76
0
[ -0.8841300010681152, -116.0417709350586, 106.28119659423828, 69.23698425292969, 4.423411846160889, 2.438243865966797 ]
[ -1.4505494832992554, -102.94505310058594, 104.43955993652344, 69.05494689941406, 4.263736248016357, 3.134603500366211 ]
2.566667
77
0
77
0
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[ -1.4505494832992554, -102.94505310058594, 104.43955993652344, 68.96703338623047, 4.263736248016357, 3.134603500366211 ]
2.6
78
0
78
0
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2.633333
79
0
79
0
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2.666667
80
0
80
0
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2.7
81
0
81
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2.733333
82
0
82
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so_follower",
    "total_episodes": 1,
    "total_frames": 83,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.top": {
            "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
            }
        },
        "observation.images.wrist": {
            "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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