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[ 16.5234375, 66.4453125, 65.390625, 50.361328125, -4.658203125, 39.588279724121094 ]
2.166667
65
0
65
0
[ 16.234281539916992, 63.35669708251953, 58.72441101074219, 51.31788635253906, -5.278466701507568, 40.01154708862305 ]
[ 16.5234375, 65.302734375, 64.248046875, 50.712890625, -4.658203125, 39.588279724121094 ]
2.2
66
0
66
0
[ 16.094837188720703, 62.20692825317383, 57.350608825683594, 51.47923278808594, -5.382949352264404, 39.92536926269531 ]
[ 16.5234375, 64.16015625, 63.10546875, 50.9765625, -4.658203125, 39.588279724121094 ]
2.233333
67
0
67
0
[ 15.948963165283203, 61.31330108642578, 56.367828369140625, 51.40143585205078, -5.49409818649292, 39.879554748535156 ]
[ 16.5234375, 62.9296875, 61.875, 51.15234375, -4.658203125, 39.588279724121094 ]
2.266667
68
0
68
0
[ 15.766613006591797, 60.062828063964844, 55.180320739746094, 51.50837326049805, -5.625538349151611, 39.772438049316406 ]
[ 16.5234375, 61.787109375, 60.732421875, 51.240234375, -4.658203125, 39.588279724121094 ]
2.3
69
0
69
0
[ 15.544130325317383, 58.84013748168945, 54.00690460205078, 51.426780700683594, -5.756385326385498, 39.61614227294922 ]
[ 16.5234375, 60.8203125, 59.765625, 51.328125, -4.74609375, 39.588279724121094 ]
2.333333
70
0
70
0
[ 15.417425155639648, 57.81418991088867, 53.028648376464844, 51.29835891723633, -5.735782623291016, 39.467323303222656 ]
[ 16.34765625, 59.58984375, 58.447265625, 51.416015625, -4.921875, 39.50910568237305 ]
2.366667
71
0
71
0
[ 15.295284271240234, 56.79582214355469, 51.9144172668457, 51.12630844116211, -5.918363094329834, 39.29843521118164 ]
[ 16.171875, 58.447265625, 57.3046875, 51.416015625, -5.185546875, 39.50910568237305 ]
2.4
72
0
72
0
[ 15.169706344604492, 56.04428482055664, 51.21767807006836, 51.125, -6.186650276184082, 39.10862731933594 ]
[ 15.908203125, 57.3046875, 56.337890625, 51.416015625, -5.185546875, 39.50910568237305 ]
2.433333
73
0
73
0
[ 14.890743255615234, 54.92095947265625, 50.50791931152344, 50.8104248046875, -6.3275980949401855, 38.90119934082031 ]
[ 15.732421875, 56.07421875, 55.1953125, 51.416015625, -5.185546875, 39.50910568237305 ]
2.466667
74
0
74
0
[ 14.807636260986328, 54.24507522583008, 49.80768585205078, 50.63945007324219, -6.6376800537109375, 38.473548889160156 ]
[ 15.556640625, 55.283203125, 54.404296875, 51.416015625, -5.537109375, 39.429931640625 ]
2.5
75
0
75
0
[ 14.690059661865234, 53.66498565673828, 49.31062316894531, 50.48621368408203, -6.852378845214844, 38.05424880981445 ]
[ 15.380859375, 54.404296875, 53.61328125, 51.328125, -5.712890625, 39.19239807128906 ]
2.533333
76
0
76
0
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[ 15.29296875, 53.61328125, 52.822265625, 51.328125, -5.9765625, 39.0340461730957 ]
2.566667
77
0
77
0
[ 14.213949203491211, 52.661109924316406, 48.80604553222656, 49.998443603515625, -7.407862663269043, 36.22334289550781 ]
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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
[ 13.74711799621582, 51.53800582885742, 48.457454681396484, 49.54143524169922, -8.051281929016113, 34.46112823486328 ]
[ 14.677734375, 51.591796875, 51.416015625, 50.44921875, -7.03125, 36.81710433959961 ]
2.7
81
0
81
0
[ 13.598726272583008, 51.92991256713867, 49.15660095214844, 49.657962799072266, -8.272244453430176, 32.810699462890625 ]
[ 14.501953125, 51.15234375, 51.15234375, 50.2734375, -7.294921875, 36.342041015625 ]
2.733333
82
0
82
0
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[ 14.326171875, 50.9765625, 50.9765625, 50.185546875, -7.470703125, 35.39192199707031 ]
2.766667
83
0
83
0
[ 13.50385856628418, 52.40713119506836, 49.93055725097656, 49.91121292114258, -8.556869506835938, 24.54405975341797 ]
[ 14.23828125, 50.888671875, 50.9765625, 50.09765625, -7.734375, 33.96674728393555 ]
2.8
84
0
84
0
[ 13.490118026733398, 52.546142578125, 50.194793701171875, 49.99320983886719, -8.602191925048828, 20.867809295654297 ]
[ 14.23828125, 50.888671875, 50.9765625, 50.09765625, -7.91015625, 31.433095932006836 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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2.9
87
0
87
0
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2.933333
88
0
88
0
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2.966667
89
0
89
0
[ 13.134553909301758, 56.088443756103516, 52.65431213378906, 51.960548400878906, -8.520586967468262, 6.416475772857666 ]
[ 13.447265625, 51.328125, 51.416015625, 50.2734375, -8.349609375, 16.15201759338379 ]
3
90
0
90
0
[ 12.975746154785156, 57.37896728515625, 52.83839416503906, 52.7839469909668, -8.434316635131836, 3.5944223403930664 ]
[ 13.18359375, 51.416015625, 51.85546875, 50.625, -8.349609375, 13.301663398742676 ]
3.033333
91
0
91
0
[ 12.751848220825195, 58.8939094543457, 53.243896484375, 53.393524169921875, -8.31367015838623, 1.5471172332763672 ]
[ 13.095703125, 52.03125, 52.294921875, 51.064453125, -8.349609375, 10.451306343078613 ]
3.066667
92
0
92
0
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[ 13.0078125, 53.26171875, 52.822265625, 51.6796875, -8.349609375, 7.521773815155029 ]
3.1
93
0
93
0
[ 12.301401138305664, 62.42982482910156, 54.1624755859375, 55.562843322753906, -7.854059219360352, 0.8899507522583008 ]
[ 12.83203125, 54.4921875, 53.349609375, 52.91015625, -8.349609375, 5.146476745605469 ]
3.133333
94
0
94
0
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[ 12.65625, 55.986328125, 53.876953125, 53.525390625, -8.26171875, 3.8004751205444336 ]
3.166667
95
0
95
0
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[ 12.48046875, 57.65625, 54.4921875, 54.4921875, -8.26171875, 2.929533004760742 ]
3.2
96
0
96
0
[ 11.185792922973633, 68.94155883789062, 55.044830322265625, 59.39733123779297, -7.071499347686768, 0.7276535034179688 ]
[ 12.48046875, 59.58984375, 55.01953125, 55.458984375, -7.998046875, 2.2169437408447266 ]
3.233333
97
0
97
0
[ 10.785903930664062, 71.30145263671875, 55.311439514160156, 60.83929443359375, -6.919513702392578, 0.7688159942626953 ]
[ 12.216796875, 61.34765625, 55.37109375, 56.6015625, -7.734375, 1.9002375602722168 ]
3.266667
98
0
98
0
[ 10.213207244873047, 73.46271514892578, 55.44097137451172, 62.16700744628906, -6.701623916625977, 0.9024171829223633 ]
[ 11.953125, 63.369140625, 55.37109375, 57.568359375, -7.55859375, 1.5835312604904175 ]
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": "v3.0",
    "robot_type": "so100",
    "total_episodes": 10,
    "total_frames": 18067,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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",
            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ],
            "fps": 30
        },
        "observation.state": {
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            "shape": [
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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ],
            "fps": 30
        },
        "observation.images.top": {
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            "shape": [
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                640,
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            "names": [
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                "width",
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            "info": {
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                "video.codec": "av1",
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        },
        "observation.images.wrist": {
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            "names": [
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            "info": {
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        "timestamp": {
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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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        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500
}

Citation

BibTeX:

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