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2.966667
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89
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[ -6.492429733276367, -8.400298118591309, 7.730418682098389, 84.92562866210938, 7.601784706115723, 29.903215408325195 ]
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3
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[ -7.02011775970459, -8.275443077087402, 7.716560363769531, 84.7557601928711, 7.560457229614258, 29.931915283203125 ]
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3.033333
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[ -6.686101913452148, -7.6301984786987305, 7.208433151245117, 84.82569885253906, 7.552308559417725, 29.51067543029785 ]
[ -6.25, -8.54228687286377, 9.04159164428711, 85.54319763183594, 7.373392581939697, 28.81355857849121 ]
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3.066667
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92
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[ -5.76608943939209, -7.627712249755859, 7.494466781616211, 84.70207977294922, 7.471931457519531, 29.418787002563477 ]
[ -6.25, -8.28729248046875, 9.04159164428711, 85.28656768798828, 7.373392581939697, 29.204692840576172 ]
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3.1
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[ -4.94880485534668, -7.743828773498535, 8.771468162536621, 84.70995330810547, 7.4100871086120605, 29.390233993530273 ]
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3.133333
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94
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3.166667
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3.2
96
0
96
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[ -3.9429821968078613, -6.10772705078125, 9.500595092773438, 84.0195083618164, 7.341641426086426, 29.58405303955078 ]
[ -5.826271057128906, -7.267318248748779, 9.04159164428711, 84.94439697265625, 7.373392581939697, 29.269882202148438 ]
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3.233333
97
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97
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[ -2.9909300804138184, -5.610903739929199, 9.290480613708496, 84.19780731201172, 7.387759208679199, 29.602012634277344 ]
[ -5.508474349975586, -6.927326679229736, 9.04159164428711, 84.85885620117188, 7.373392581939697, 29.269882202148438 ]
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3.266667
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98
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[ -2.7023720741271973, -5.353207588195801, 9.831631660461426, 84.07777404785156, 7.371850490570068, 29.925912857055664 ]
[ -5.190678119659424, -6.247344017028809, 9.04159164428711, 84.60222625732422, 7.425872325897217, 29.269882202148438 ]
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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": "so101_follower",
    "total_episodes": 1,
    "total_frames": 297,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "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
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        },
        "observation.state": {
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            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
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        },
        "observation.images.handeye": {
            "dtype": "video",
            "shape": [
                360,
                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.fixed": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.tactile": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "tactile.force_000.x",
                "tactile.force_000.y",
                "tactile.force_000.z",
                "tactile.force_001.x",
                "tactile.force_001.y",
                "tactile.force_001.z",
                "tactile.force_002.x",
                "tactile.force_002.y",
                "tactile.force_002.z",
                "tactile.force_003.x",
                "tactile.force_003.y",
                "tactile.force_003.z",
                "tactile.force_004.x",
                "tactile.force_004.y",
                "tactile.force_004.z",
                "tactile.force_005.x",
                "tactile.force_005.y",
                "tactile.force_005.z",
                "tactile.force_006.x",
                "tactile.force_006.y",
                "tactile.force_006.z",
                "tactile.force_007.x",
                "tactile.force_007.y",
                "tactile.force_007.z",
                "tactile.force_008.x",
                "tactile.force_008.y",
                "tactile.force_008.z",
                "tactile.force_009.x",
                "tactile.force_009.y",
                "tactile.force_009.z",
                "tactile.force_010.x",
                "tactile.force_010.y",
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                "tactile.force_011.x",
                "tactile.force_011.y",
                "tactile.force_011.z",
                "tactile.force_012.x",
                "tactile.force_012.y",
                "tactile.force_012.z",
                "tactile.force_013.x",
                "tactile.force_013.y",
                "tactile.force_013.z",
                "tactile.force_014.x",
                "tactile.force_014.y",
                "tactile.force_014.z",
                "tactile.force_015.x",
                "tactile.force_015.y",
                "tactile.force_015.z",
                "tactile.force_016.x",
                "tactile.force_016.y",
                "tactile.force_016.z",
                "tactile.force_017.x",
                "tactile.force_017.y",
                "tactile.force_017.z",
                "tactile.force_018.x",
                "tactile.force_018.y",
                "tactile.force_018.z",
                "tactile.force_019.x",
                "tactile.force_019.y",
                "tactile.force_019.z",
                "tactile.force_020.x",
                "tactile.force_020.y",
                "tactile.force_020.z",
                "tactile.force_021.x",
                "tactile.force_021.y",
                "tactile.force_021.z",
                "tactile.force_022.x",
                "tactile.force_022.y",
                "tactile.force_022.z",
                "tactile.force_023.x",
                "tactile.force_023.y",
                "tactile.force_023.z",
                "tactile.force_024.x",
                "tactile.force_024.y",
                "tactile.force_024.z",
                "tactile.force_025.x",
                "tactile.force_025.y",
                "tactile.force_025.z",
                "tactile.force_026.x",
                "tactile.force_026.y",
                "tactile.force_026.z",
                "tactile.force_027.x",
                "tactile.force_027.y",
                "tactile.force_027.z",
                "tactile.force_028.x",
                "tactile.force_028.y",
                "tactile.force_028.z",
                "tactile.force_029.x",
                "tactile.force_029.y",
                "tactile.force_029.z",
                "tactile.force_030.x",
                "tactile.force_030.y",
                "tactile.force_030.z",
                "tactile.force_031.x",
                "tactile.force_031.y",
                "tactile.force_031.z",
                "tactile.force_032.x",
                "tactile.force_032.y",
                "tactile.force_032.z",
                "tactile.force_033.x",
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                "tactile.force_033.z",
                "tactile.force_034.x",
                "tactile.force_034.y",
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                "tactile.force_035.x",
                "tactile.force_035.y",
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                "tactile.force_036.x",
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                "tactile.force_039.z",
                "tactile.force_040.x",
                "tactile.force_040.y",
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                "tactile.force_041.x",
                "tactile.force_041.y",
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                "tactile.force_046.x",
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                "tactile.force_046.z",
                "tactile.force_047.x",
                "tactile.force_047.y",
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                "tactile.force_048.y",
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                "tactile.force_049.y",
                "tactile.force_049.z",
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                "tactile.force_050.z",
                "tactile.force_051.x",
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                "tactile.force_058.x",
                "tactile.force_058.y",
                "tactile.force_058.z",
                "tactile.force_059.x",
                "tactile.force_059.y",
                "tactile.force_059.z",
                "tactile.force_060.x",
                "tactile.force_060.y",
                "tactile.force_060.z",
                "tactile.force_061.x",
                "tactile.force_061.y",
                "tactile.force_061.z",
                "tactile.force_062.x",
                "tactile.force_062.y",
                "tactile.force_062.z",
                "tactile.force_063.x",
                "tactile.force_063.y",
                "tactile.force_063.z",
                "tactile.force_064.x",
                "tactile.force_064.y",
                "tactile.force_064.z",
                "tactile.force_065.x",
                "tactile.force_065.y",
                "tactile.force_065.z",
                "tactile.force_066.x",
                "tactile.force_066.y",
                "tactile.force_066.z",
                "tactile.force_067.x",
                "tactile.force_067.y",
                "tactile.force_067.z",
                "tactile.resultant.x",
                "tactile.resultant.y",
                "tactile.resultant.z"
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        },
        "timestamp": {
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        "frame_index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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