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float32
0
29.7
frame_index
int64
0
594
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int64
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int64
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3
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0
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[ -32.34375, 99.052734375, 118.4765625, 57.744140625, 0.17578125, 18.777942657470703 ]
3.3
66
0
66
0
[ -31.072378158569336, 100.00421142578125, 118.18006896972656, 59.04368591308594, -0.04772639274597168, 7.445314407348633 ]
[ -32.34375, 99.052734375, 118.4765625, 57.744140625, 0.17578125, 16.467958450317383 ]
3.35
67
0
67
0
[ -30.922536849975586, 100.25836181640625, 117.59431457519531, 60.19086456298828, -0.030191659927368164, 4.894996643066406 ]
[ -32.16796875, 99.052734375, 118.4765625, 57.48046875, 0.17578125, 12.295082092285156 ]
3.4
68
0
68
0
[ -30.688684463500977, 100.6771011352539, 116.90234375, 60.985355377197266, -0.026345491409301758, 4.444160461425781 ]
[ -31.9921875, 99.052734375, 118.388671875, 57.919921875, 0.17578125, 9.98509693145752 ]
3.45
69
0
69
0
[ -30.5333194732666, 101.28764343261719, 115.82332611083984, 62.460121154785156, -0.03369855880737305, 4.127808570861816 ]
[ -31.81640625, 99.140625, 118.212890625, 58.798828125, 0.17578125, 7.749627590179443 ]
3.5
70
0
70
0
[ -30.18544578552246, 101.70813751220703, 115.15172576904297, 63.27022933959961, -0.0354616641998291, 4.223867416381836 ]
[ -31.640625, 99.31640625, 117.7734375, 59.4140625, 0.17578125, 6.557376861572266 ]
3.55
71
0
71
0
[ -29.894765853881836, 102.84902954101562, 113.06433868408203, 65.74547576904297, -0.06572914123535156, 4.031365394592285 ]
[ -31.552734375, 99.31640625, 117.0703125, 60.732421875, 0.17578125, 6.035767555236816 ]
3.6
72
0
72
0
[ -29.808584213256836, 103.65704345703125, 112.17720031738281, 66.97068786621094, -0.08892655372619629, 4.297774314880371 ]
[ -31.2890625, 99.228515625, 116.54296875, 61.875, 0.17578125, 5.737704753875732 ]
3.65
73
0
73
0
[ -29.473642349243164, 104.44758605957031, 110.5888671875, 68.48664093017578, -0.08814287185668945, 4.41746711730957 ]
[ -31.11328125, 99.66796875, 115.576171875, 63.6328125, 0.17578125, 5.5886735916137695 ]
3.7
74
0
74
0
[ -29.254634857177734, 105.68557739257812, 109.24772644042969, 69.57315826416016, -0.11451268196105957, 4.496526718139648 ]
[ -30.76171875, 100.546875, 114.78515625, 65.390625, 0.17578125, 5.514157772064209 ]
3.75
75
0
75
0
[ -29.256084442138672, 107.15897369384766, 107.90676879882812, 70.82301330566406, -0.137253999710083, 5.038827896118164 ]
[ -30.322265625, 101.25, 113.642578125, 67.5, 0.17578125, 5.365126609802246 ]
3.8
76
0
76
0
[ -29.144044876098633, 107.9927978515625, 106.91816711425781, 71.51075744628906, -0.15869426727294922, 5.13724422454834 ]
[ -29.8828125, 102.3046875, 112.5, 68.73046875, 0.17578125, 5.2906107902526855 ]
3.85
77
0
77
0
[ -29.21021270751953, 109.03185272216797, 106.04994201660156, 71.87918853759766, -0.16549062728881836, 5.465516090393066 ]
[ -29.53125, 103.623046875, 111.533203125, 69.873046875, 0.17578125, 5.2906107902526855 ]
3.9
78
0
78
0
[ -29.145587921142578, 110.8183364868164, 104.59934997558594, 72.6650161743164, -0.17015838623046875, 6.226408004760742 ]
[ -29.267578125, 104.765625, 110.390625, 70.751953125, 0.17578125, 5.2906107902526855 ]
3.95
79
0
79
0
[ -29.126605987548828, 112.09200286865234, 103.82659912109375, 72.95745086669922, -0.16769742965698242, 6.467555046081543 ]
[ -29.267578125, 105.8203125, 109.423828125, 71.279296875, 0.17578125, 5.2906107902526855 ]
4
80
0
80
0
[ -29.283512115478516, 112.44915008544922, 103.62876892089844, 72.92688751220703, -0.17417669296264648, 6.881697654724121 ]
[ -29.35546875, 107.2265625, 108.28125, 72.0703125, 0.17578125, 5.8867363929748535 ]
4.05
81
0
81
0
[ -29.285968780517578, 113.39102935791016, 102.9974365234375, 73.08113098144531, -0.17261362075805664, 7.170836448669434 ]
[ -29.35546875, 108.80859375, 107.138671875, 72.333984375, 0.17578125, 6.035767555236816 ]
4.1
82
0
82
0
[ -29.048526763916016, 113.97667694091797, 102.21928405761719, 73.1845474243164, -0.15107488632202148, 7.563547134399414 ]
[ -29.443359375, 109.86328125, 106.435546875, 72.421875, 0.17578125, 6.25931453704834 ]
4.15
83
0
83
0
[ -29.106950759887695, 114.29607391357422, 102.25230407714844, 73.31925964355469, -0.15940451622009277, 7.6727142333984375 ]
[ -29.53125, 110.56640625, 105.8203125, 72.685546875, 0.17578125, 6.780923843383789 ]
4.2
84
0
84
0
[ -28.737049102783203, 115.86558532714844, 101.23836517333984, 73.50894165039062, -0.13679242134094238, 8.085638999938965 ]
[ -29.53125, 111.357421875, 105.205078125, 72.7734375, 0.17578125, 7.228017807006836 ]
4.25
85
0
85
0
[ -28.534318923950195, 116.25363159179688, 100.56791687011719, 73.6504135131836, -0.13033556938171387, 8.530479431152344 ]
[ -29.53125, 111.97265625, 104.765625, 73.037109375, 0.17578125, 7.451564788818359 ]
4.3
86
0
86
0
[ -27.886728286743164, 117.00269317626953, 99.88383483886719, 73.80872344970703, -0.11165857315063477, 9.237244606018066 ]
[ -29.53125, 113.02734375, 104.23828125, 73.125, 0.17578125, 7.824142932891846 ]
4.35
87
0
87
0
[ -27.998727798461914, 116.77748107910156, 99.85399627685547, 73.78325653076172, -0.1155858039855957, 9.469890594482422 ]
[ -29.53125, 113.90625, 103.359375, 73.388671875, 0.17578125, 8.27123737335205 ]
4.4
88
0
88
0
[ -26.409591674804688, 117.9117202758789, 98.92279815673828, 73.97134399414062, -0.08439850807189941, 9.458555221557617 ]
[ -29.091796875, 114.521484375, 102.744140625, 73.4765625, 0.17578125, 8.867362022399902 ]
4.45
89
0
89
0
[ -26.01072120666504, 117.87580871582031, 98.78590393066406, 73.74090576171875, -0.0796351432800293, 9.801722526550293 ]
[ -28.30078125, 114.521484375, 102.568359375, 73.4765625, 0.17578125, 9.090909004211426 ]
4.5
90
0
90
0
[ -24.793420791625977, 117.84908294677734, 98.2367935180664, 73.6129379272461, -0.054358720779418945, 10.02778148651123 ]
[ -27.7734375, 114.873046875, 102.65625, 73.564453125, 0.17578125, 9.239940643310547 ]
4.55
91
0
91
0
[ -23.067758560180664, 117.70613861083984, 97.66876220703125, 73.15571594238281, -0.029639005661010742, 10.615325927734375 ]
[ -26.982421875, 115.048828125, 102.65625, 73.564453125, 0.17578125, 9.612518310546875 ]
4.6
92
0
92
0
[ -21.72088050842285, 117.84751892089844, 97.44441986083984, 72.79583740234375, -0.01862311363220215, 10.610376358032227 ]
[ -25.927734375, 115.13671875, 102.568359375, 73.564453125, 0.17578125, 9.836065292358398 ]
4.65
93
0
93
0
[ -20.7574405670166, 117.483642578125, 97.18423461914062, 72.44312286376953, 0.00037860870361328125, 10.727836608886719 ]
[ -24.43359375, 115.048828125, 102.568359375, 73.564453125, 0.17578125, 10.208643913269043 ]
4.7
94
0
94
0
[ -19.084997177124023, 116.94218444824219, 96.56265258789062, 71.89582061767578, 0.007170200347900391, 10.815147399902344 ]
[ -22.8515625, 115.048828125, 102.568359375, 73.388671875, 0.17578125, 10.357675552368164 ]
4.75
95
0
95
0
[ -17.925579071044922, 116.2359619140625, 96.22930908203125, 71.38066864013672, 0.02907085418701172, 10.52023983001709 ]
[ -21.357421875, 115.048828125, 102.216796875, 73.037109375, 0.17578125, 10.432190895080566 ]
4.8
96
0
96
0
[ -16.417495727539062, 115.26155853271484, 95.95806121826172, 70.97756958007812, 0.04502439498901367, 10.336992263793945 ]
[ -20.302734375, 114.9609375, 100.810546875, 72.509765625, 0.17578125, 10.432190895080566 ]
4.85
97
0
97
0
[ -14.920306205749512, 114.72325134277344, 95.68401336669922, 70.24971771240234, 0.04860234260559082, 10.168481826782227 ]
[ -19.423828125, 115.048828125, 99.66796875, 72.0703125, 0.17578125, 10.432190895080566 ]
4.9
98
0
98
0
[ -14.139408111572266, 114.06221771240234, 95.56683349609375, 70.09475708007812, 0.061084747314453125, 9.776029586791992 ]
[ -17.9296875, 114.697265625, 98.876953125, 71.54296875, 0.17578125, 10.432190895080566 ]
4.95
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": "so100MovellaDot",
    "total_episodes": 1,
    "total_frames": 595,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "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.side": {
            "dtype": "video",
            "shape": [
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            "names": [
                "height",
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                "video.width": 640,
                "video.codec": "av1",
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        "observation.images.above": {
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            "names": [
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            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "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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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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