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[ 20.7421875, 92.98828125, 99.755859375, 47.109375, -1.7578125, 29.849565505981445 ]
2.166667
65
0
65
0
[ 20.812789916992188, 91.8940658569336, 95.10137939453125, 47.38493347167969, -1.4869431257247925, 30.54585838317871 ]
[ 20.7421875, 92.63671875, 99.31640625, 47.109375, -1.7578125, 29.928741455078125 ]
2.2
66
0
66
0
[ 20.734193801879883, 91.46819305419922, 94.72979736328125, 47.477142333984375, -1.5538078546524048, 30.524696350097656 ]
[ 20.7421875, 92.109375, 98.701171875, 47.109375, -1.7578125, 30.087095260620117 ]
2.233333
67
0
67
0
[ 20.677942276000977, 90.89055633544922, 94.3070297241211, 47.53184509277344, -1.5834120512008667, 30.608491897583008 ]
[ 20.7421875, 91.58203125, 98.26171875, 47.109375, -1.7578125, 30.087095260620117 ]
2.266667
68
0
68
0
[ 20.64689826965332, 90.50564575195312, 93.83537292480469, 47.685340881347656, -1.6030818223953247, 30.769676208496094 ]
[ 20.7421875, 91.142578125, 97.822265625, 47.109375, -1.7578125, 30.087095260620117 ]
2.3
69
0
69
0
[ 20.627342224121094, 89.85140991210938, 93.34101867675781, 47.799034118652344, -1.590314269065857, 31.03463363647461 ]
[ 20.7421875, 90.703125, 97.470703125, 47.197265625, -1.7578125, 30.087095260620117 ]
2.333333
70
0
70
0
[ 20.65958023071289, 89.26828002929688, 92.9630355834961, 47.96259689331055, -1.7377923727035522, 31.347713470458984 ]
[ 20.7421875, 90.263671875, 97.03125, 47.4609375, -1.7578125, 30.245447158813477 ]
2.366667
71
0
71
0
[ 20.666946411132812, 88.72640991210938, 92.56539916992188, 48.11198806762695, -1.784878134727478, 31.671743392944336 ]
[ 20.7421875, 89.736328125, 96.50390625, 47.63671875, -1.7578125, 30.40380096435547 ]
2.4
72
0
72
0
[ 20.708993911743164, 87.85831451416016, 92.0727310180664, 48.2370491027832, -1.7184160947799683, 32.092491149902344 ]
[ 20.7421875, 89.12109375, 95.9765625, 47.63671875, -1.7578125, 30.720508575439453 ]
2.433333
73
0
73
0
[ 20.849464416503906, 87.10595703125, 91.63016510009766, 48.24333953857422, -1.6215299367904663, 32.51140594482422 ]
[ 20.7421875, 88.59375, 95.625, 47.8125, -1.7578125, 30.958036422729492 ]
2.466667
74
0
74
0
[ 20.88445281982422, 86.35044860839844, 91.14259338378906, 48.24274826049805, -1.7183161973953247, 32.649627685546875 ]
[ 20.7421875, 87.890625, 95.185546875, 47.98828125, -1.7578125, 31.274742126464844 ]
2.5
75
0
75
0
[ 21.05313491821289, 85.59423828125, 90.93940734863281, 48.166053771972656, -1.747750163078308, 32.780433654785156 ]
[ 20.7421875, 87.099609375, 94.658203125, 48.076171875, -1.7578125, 31.670623779296875 ]
2.533333
76
0
76
0
[ 21.151098251342773, 84.99323272705078, 90.47705841064453, 48.137481689453125, -1.7727967500686646, 32.80900573730469 ]
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2.566667
77
0
77
0
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[ 20.7421875, 85.60546875, 93.8671875, 48.076171875, -1.7578125, 32.14568328857422 ]
2.6
78
0
78
0
[ 21.216585159301758, 83.42134094238281, 89.90360260009766, 47.92061996459961, -1.71226966381073, 32.83055114746094 ]
[ 20.7421875, 84.90234375, 93.427734375, 48.076171875, -1.7578125, 32.30403518676758 ]
2.633333
79
0
79
0
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2.666667
80
0
80
0
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[ 20.7421875, 83.3203125, 92.63671875, 48.076171875, -1.7578125, 32.30403518676758 ]
2.7
81
0
81
0
[ 21.514137268066406, 80.90687561035156, 88.95960998535156, 47.40336608886719, -1.7069374322891235, 32.78504943847656 ]
[ 20.7421875, 82.705078125, 92.197265625, 48.076171875, -1.7578125, 32.30403518676758 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ 21.26953125, 81.2109375, 91.494140625, 48.076171875, -1.7578125, 32.30403518676758 ]
2.8
84
0
84
0
[ 21.76845932006836, 78.50902557373047, 88.01504516601562, 46.84648513793945, -1.6371039152145386, 32.683067321777344 ]
[ 21.4453125, 80.419921875, 90.966796875, 48.076171875, -1.7578125, 32.30403518676758 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ 21.62109375, 78.837890625, 90.17578125, 48.076171875, -1.7578125, 32.30403518676758 ]
2.9
87
0
87
0
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[ 21.708984375, 78.22265625, 89.82421875, 47.8125, -1.7578125, 32.30403518676758 ]
2.933333
88
0
88
0
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2.966667
89
0
89
0
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[ 21.708984375, 76.640625, 88.76953125, 47.197265625, -1.7578125, 32.30403518676758 ]
3
90
0
90
0
[ 22.073467254638672, 73.23548889160156, 84.82902526855469, 46.38589096069336, -1.6219013929367065, 32.3172607421875 ]
[ 21.708984375, 75.76171875, 88.2421875, 47.021484375, -1.7578125, 32.30403518676758 ]
3.033333
91
0
91
0
[ 22.05718231201172, 72.20452117919922, 84.43719482421875, 46.25297164916992, -1.5801151990890503, 32.39087677001953 ]
[ 21.708984375, 74.970703125, 87.5390625, 47.021484375, -1.7578125, 32.30403518676758 ]
3.066667
92
0
92
0
[ 22.044584274291992, 71.50251770019531, 83.97877502441406, 46.08399963378906, -1.4701541662216187, 32.305458068847656 ]
[ 21.708984375, 74.091796875, 87.01171875, 47.021484375, -1.7578125, 32.30403518676758 ]
3.1
93
0
93
0
[ 22.13064193725586, 70.77438354492188, 83.39216613769531, 46.13841247558594, -1.6157978773117065, 32.194129943847656 ]
[ 21.708984375, 73.388671875, 86.484375, 46.845703125, -1.7578125, 32.30403518676758 ]
3.133333
94
0
94
0
[ 22.15349006652832, 70.24798583984375, 83.2213134765625, 46.04555130004883, -1.597145676612854, 32.18194580078125 ]
[ 21.708984375, 72.685546875, 85.869140625, 46.669921875, -1.7578125, 32.30403518676758 ]
3.166667
95
0
95
0
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[ 21.708984375, 71.89453125, 85.341796875, 46.494140625, -1.7578125, 32.541568756103516 ]
3.2
96
0
96
0
[ 22.069107055664062, 69.01378631591797, 82.36228942871094, 45.84051513671875, -1.5835667848587036, 32.13489532470703 ]
[ 21.708984375, 71.19140625, 84.990234375, 46.494140625, -1.7578125, 32.699920654296875 ]
3.233333
97
0
97
0
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[ 21.708984375, 70.6640625, 84.55078125, 46.494140625, -1.7578125, 32.699920654296875 ]
3.266667
98
0
98
0
[ 22.1312313079834, 68.25764465332031, 81.98295593261719, 45.8544921875, -1.696588397026062, 31.895139694213867 ]
[ 21.708984375, 70.048828125, 84.111328125, 46.494140625, -1.7578125, 32.62074279785156 ]
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": 5,
    "total_frames": 6914,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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
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        "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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            "names": [
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                "width",
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            "info": {
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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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        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500
}

Citation

BibTeX:

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