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[ 41.572265625, 108.017578125, 125.68359375, 67.67578125, -104.150390625, 21.234939575195312 ]
2.2
66
0
66
0
[ 42.96760177612305, 105.4841537475586, 124.58507537841797, 64.60668182373047, -105.81622314453125, 23.695796966552734 ]
[ 41.748046875, 107.05078125, 125.771484375, 66.796875, -104.0625, 21.385541915893555 ]
2.233333
67
0
67
0
[ 42.53780746459961, 104.9300308227539, 124.7410659790039, 63.811927795410156, -105.71094512939453, 23.9344482421875 ]
[ 41.8359375, 106.083984375, 125.771484375, 66.09375, -104.4140625, 21.762046813964844 ]
2.266667
68
0
68
0
[ 43.13622283935547, 104.85786437988281, 124.81382751464844, 63.474761962890625, -105.8698959350586, 24.112991333007812 ]
[ 41.8359375, 105.029296875, 125.771484375, 65.56640625, -104.501953125, 22.138553619384766 ]
2.3
69
0
69
0
[ 42.84679412841797, 104.38673400878906, 125.46961975097656, 62.59803771972656, -105.91893768310547, 24.259143829345703 ]
[ 41.748046875, 104.150390625, 125.771484375, 64.86328125, -104.58984375, 22.28915786743164 ]
2.333333
70
0
70
0
[ 43.3195915222168, 104.21458435058594, 125.98039245605469, 62.90760040283203, -106.24845123291016, 24.14629364013672 ]
[ 42.01171875, 103.271484375, 125.771484375, 64.3359375, -104.58984375, 23.04216957092285 ]
2.366667
71
0
71
0
[ 42.909122467041016, 103.62699890136719, 125.96636962890625, 61.93632888793945, -105.97307586669922, 24.643722534179688 ]
[ 42.275390625, 103.095703125, 125.771484375, 63.896484375, -104.58984375, 23.19277000427246 ]
2.4
72
0
72
0
[ 43.97880935668945, 103.34872436523438, 127.06600952148438, 61.55535125732422, -106.65218353271484, 24.448719024658203 ]
[ 42.36328125, 103.0078125, 126.03515625, 63.28125, -104.765625, 23.343374252319336 ]
2.433333
73
0
73
0
[ 43.57011795043945, 102.67111206054688, 127.0167236328125, 60.247779846191406, -106.42891693115234, 24.998579025268555 ]
[ 42.36328125, 102.65625, 126.474609375, 62.666015625, -104.853515625, 23.41867446899414 ]
2.466667
74
0
74
0
[ 43.11296844482422, 102.46942901611328, 127.52347564697266, 59.503456115722656, -105.5988540649414, 25.298662185668945 ]
[ 42.1875, 102.3046875, 127.529296875, 62.2265625, -105.380859375, 23.493974685668945 ]
2.5
75
0
75
0
[ 43.16947937011719, 102.51596069335938, 128.52984619140625, 59.25892639160156, -105.47362518310547, 25.046329498291016 ]
[ 42.1875, 101.865234375, 128.056640625, 61.787109375, -105.46875, 23.493974685668945 ]
2.533333
76
0
76
0
[ 43.63612747192383, 100.7417984008789, 128.00448608398438, 57.36109924316406, -105.87785339355469, 25.283565521240234 ]
[ 42.275390625, 101.337890625, 128.3203125, 60.99609375, -105.46875, 23.79517936706543 ]
2.566667
77
0
77
0
[ 43.71290969848633, 101.06732940673828, 128.6484832763672, 57.33140563964844, -106.14022827148438, 25.329418182373047 ]
[ 42.451171875, 100.986328125, 128.84765625, 60.29296875, -105.46875, 24.17168617248535 ]
2.6
78
0
78
0
[ 43.808692932128906, 99.39932250976562, 128.49501037597656, 55.439979553222656, -106.13602447509766, 25.35918426513672 ]
[ 42.451171875, 100.37109375, 129.111328125, 59.326171875, -105.46875, 24.322288513183594 ]
2.633333
79
0
79
0
[ 43.7237434387207, 100.20361328125, 128.62721252441406, 55.64179992675781, -105.773681640625, 25.44179916381836 ]
[ 42.275390625, 99.84375, 129.287109375, 58.53515625, -105.556640625, 24.47289276123047 ]
2.666667
80
0
80
0
[ 43.9722785949707, 99.0201416015625, 128.83702087402344, 54.263954162597656, -106.22926330566406, 25.17611312866211 ]
[ 42.1875, 98.525390625, 129.375, 56.953125, -105.64453125, 24.47289276123047 ]
2.7
81
0
81
0
[ 43.24330520629883, 98.94941711425781, 128.88905334472656, 54.01353073120117, -105.5177001953125, 25.183155059814453 ]
[ 42.275390625, 98.349609375, 129.462890625, 56.513671875, -105.64453125, 24.47289276123047 ]
2.733333
82
0
82
0
[ 42.83704376220703, 98.25630950927734, 129.38900756835938, 52.471336364746094, -105.28470611572266, 24.995376586914062 ]
[ 42.275390625, 98.0859375, 129.462890625, 55.986328125, -105.64453125, 24.47289276123047 ]
2.766667
83
0
83
0
[ 42.588314056396484, 99.03654479980469, 130.60284423828125, 52.22257995605469, -104.80510711669922, 24.544069290161133 ]
[ 42.275390625, 97.55859375, 129.462890625, 55.283203125, -105.46875, 24.47289276123047 ]
2.8
84
0
84
0
[ 43.33081817626953, 97.88482666015625, 130.33621215820312, 50.93800354003906, -105.88514709472656, 23.651996612548828 ]
[ 42.01171875, 97.20703125, 130.078125, 53.96484375, -105.46875, 24.39759063720703 ]
2.833333
85
0
85
0
[ 43.324462890625, 97.89766693115234, 131.12828063964844, 49.947689056396484, -105.68135833740234, 22.173446655273438 ]
[ 42.01171875, 97.119140625, 130.517578125, 53.349609375, -105.46875, 24.322288513183594 ]
2.866667
86
0
86
0
[ 43.996864318847656, 97.19027709960938, 130.99330139160156, 49.56055450439453, -106.69570922851562, 20.310100555419922 ]
[ 42.1875, 96.85546875, 131.044921875, 52.294921875, -105.46875, 24.17168617248535 ]
2.9
87
0
87
0
[ 42.437278747558594, 98.00320434570312, 131.40147399902344, 49.633644104003906, -104.77466583251953, 22.050933837890625 ]
[ 42.36328125, 96.416015625, 131.484375, 51.328125, -105.46875, 23.569276809692383 ]
2.933333
88
0
88
0
[ 43.073707580566406, 97.73218536376953, 131.54025268554688, 49.06610870361328, -105.48359680175781, 20.667282104492188 ]
[ 42.36328125, 96.15234375, 131.748046875, 50.80078125, -105.380859375, 22.66566276550293 ]
2.966667
89
0
89
0
[ 43.24199295043945, 97.35211944580078, 132.2416229248047, 48.04305648803711, -106.48632049560547, 17.31528091430664 ]
[ 42.36328125, 96.15234375, 132.099609375, 50.44921875, -105.029296875, 21.762046813964844 ]
3
90
0
90
0
[ 44.24196243286133, 97.05674743652344, 132.10963439941406, 47.69127655029297, -107.77153015136719, 16.05771255493164 ]
[ 42.36328125, 95.9765625, 132.275390625, 50.09765625, -105.029296875, 21.234939575195312 ]
3.033333
91
0
91
0
[ 43.154930114746094, 96.92157745361328, 133.65953063964844, 45.729122161865234, -107.6953353881836, 9.59434700012207 ]
[ 42.36328125, 95.888671875, 132.802734375, 49.39453125, -105.380859375, 20.55722999572754 ]
3.066667
92
0
92
0
[ 42.60313415527344, 97.25104522705078, 133.55633544921875, 46.032508850097656, -106.7369384765625, 11.085725784301758 ]
[ 42.5390625, 95.80078125, 133.154296875, 48.69140625, -105.908203125, 19.27710723876953 ]
3.1
93
0
93
0
[ 43.42644119262695, 97.086669921875, 133.69915771484375, 46.116294860839844, -107.29006958007812, 10.49889850616455 ]
[ 42.71484375, 95.625, 133.59375, 47.724609375, -106.083984375, 17.846385955810547 ]
3.133333
94
0
94
0
[ 43.03582000732422, 98.24476623535156, 134.4974822998047, 46.10132598876953, -106.49490356445312, 10.469513893127441 ]
[ 42.71484375, 95.712890625, 133.857421875, 47.373046875, -106.083984375, 15.73795223236084 ]
3.166667
95
0
95
0
[ 42.74686813354492, 97.6515121459961, 134.12196350097656, 45.2869873046875, -107.58366394042969, 3.1342086791992188 ]
[ 42.626953125, 95.712890625, 133.857421875, 47.109375, -106.34765625, 13.027107238769531 ]
3.2
96
0
96
0
[ 42.88841247558594, 98.54922485351562, 134.76321411132812, 45.515052795410156, -107.86727905273438, 2.3014707565307617 ]
[ 42.5390625, 95.712890625, 133.857421875, 46.93359375, -106.34765625, 12.198795318603516 ]
3.233333
97
0
97
0
[ 42.37425231933594, 99.9818115234375, 135.3504180908203, 45.84798049926758, -107.40055847167969, 1.4963874816894531 ]
[ 42.451171875, 95.80078125, 134.12109375, 46.494140625, -106.5234375, 11.219879150390625 ]
3.266667
98
0
98
0
[ 41.42436599731445, 100.77388000488281, 135.60765075683594, 45.85009765625, -106.83915710449219, 1.2091236114501953 ]
[ 42.36328125, 96.064453125, 134.384765625, 46.23046875, -106.5234375, 9.487951278686523 ]
3.3
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 5,
    "total_frames": 7919,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": [
                6
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        "observation.images.phone": {
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            "shape": [
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            "names": [
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            "info": {
                "video.fps": 30.0,
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "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": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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