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float32
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int64
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[ 90.966796875, 129.814453125, 173.935546875, -1.0546875, -5.80078125, 39.19921875 ]
2.2
66
0
66
0
[ 91.07392883300781, 134.55540466308594, 178.8167266845703, -6.639362335205078, -6.748715400695801, 39.550437927246094 ]
[ 90.966796875, 129.814453125, 173.935546875, -0.966796875, -5.80078125, 39.19921875 ]
2.233333
67
0
67
0
[ 91.06993865966797, 134.5520782470703, 178.810546875, -6.6370849609375, -6.742249011993408, 39.546112060546875 ]
[ 90.966796875, 129.7265625, 173.935546875, -0.966796875, -5.80078125, 39.19921875 ]
2.266667
68
0
68
0
[ 91.07254028320312, 134.5533447265625, 178.79629516601562, -6.625782012939453, -6.729820251464844, 39.54884719848633 ]
[ 90.966796875, 129.814453125, 173.935546875, -0.966796875, -5.80078125, 39.19921875 ]
2.3
69
0
69
0
[ 91.06855773925781, 134.55130004882812, 178.7742919921875, -6.605571746826172, -6.72169303894043, 39.55021667480469 ]
[ 90.966796875, 129.814453125, 173.935546875, -1.0546875, -5.80078125, 39.19921875 ]
2.333333
70
0
70
0
[ 91.06156921386719, 134.5526580810547, 178.73587036132812, -6.577308654785156, -6.687961578369141, 39.547969818115234 ]
[ 90.966796875, 129.814453125, 173.935546875, -0.966796875, -5.80078125, 39.19921875 ]
2.366667
71
0
71
0
[ 91.06298065185547, 134.5462646484375, 178.71942138671875, -6.558536529541016, -6.699131965637207, 39.54665756225586 ]
[ 90.966796875, 129.814453125, 173.935546875, -0.966796875, -5.80078125, 39.19921875 ]
2.4
72
0
72
0
[ 91.04838562011719, 134.5471954345703, 178.65528869628906, -6.508689880371094, -6.64017915725708, 39.55015563964844 ]
[ 90.966796875, 129.814453125, 173.935546875, -0.966796875, -5.80078125, 39.19921875 ]
2.433333
73
0
73
0
[ 91.06803131103516, 134.53573608398438, 178.56130981445312, -6.431529998779297, -6.582584857940674, 39.551727294921875 ]
[ 90.966796875, 129.814453125, 173.935546875, -1.0546875, -5.80078125, 39.19921875 ]
2.466667
74
0
74
0
[ 91.07148742675781, 134.53988647460938, 178.6268310546875, -6.476963043212891, -6.626472473144531, 39.54788589477539 ]
[ 90.966796875, 129.814453125, 173.935546875, -0.966796875, -5.80078125, 39.19921875 ]
2.5
75
0
75
0
[ 91.089599609375, 134.53134155273438, 178.42958068847656, -6.303031921386719, -6.559155464172363, 39.5564079284668 ]
[ 90.966796875, 129.814453125, 173.935546875, -1.0546875, -5.80078125, 39.19921875 ]
2.533333
76
0
76
0
[ 91.09835815429688, 134.52587890625, 178.30531311035156, -6.173107147216797, -6.536384105682373, 39.558204650878906 ]
[ 90.966796875, 129.814453125, 173.935546875, -1.0546875, -5.80078125, 39.19921875 ]
2.566667
77
0
77
0
[ 91.15943908691406, 134.516357421875, 177.9441375732422, -5.755767822265625, -6.428767204284668, 39.593563079833984 ]
[ 90.966796875, 129.7265625, 173.935546875, -0.966796875, -5.80078125, 39.19921875 ]
2.6
78
0
78
0
[ 91.22138977050781, 134.51170349121094, 177.7437744140625, -5.470584869384766, -6.398517608642578, 39.595802307128906 ]
[ 90.966796875, 129.814453125, 173.935546875, -1.0546875, -5.80078125, 39.19921875 ]
2.633333
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0
79
0
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[ 90.966796875, 129.7265625, 173.935546875, -1.0546875, -5.80078125, 39.19921875 ]
2.666667
80
0
80
0
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[ 90.966796875, 129.814453125, 173.935546875, -1.0546875, -5.80078125, 39.19921875 ]
2.7
81
0
81
0
[ 91.45423889160156, 134.42379760742188, 175.1034698486328, -1.4699745178222656, -5.9583420753479, 39.75237274169922 ]
[ 90.966796875, 129.814453125, 173.759765625, -0.966796875, -5.80078125, 39.19921875 ]
2.733333
82
0
82
0
[ 91.54170989990234, 134.42755126953125, 174.55859375, -0.6048965454101562, -5.925158977508545, 39.7461051940918 ]
[ 90.966796875, 129.814453125, 173.759765625, -0.966796875, -5.80078125, 39.19921875 ]
2.766667
83
0
83
0
[ 91.52716064453125, 134.39195251464844, 172.6728515625, 2.5932464599609375, -5.524073123931885, 39.83894348144531 ]
[ 90.966796875, 129.814453125, 173.671875, -0.791015625, -5.712890625, 39.19921875 ]
2.8
84
0
84
0
[ 91.60220336914062, 134.398193359375, 170.5753631591797, 6.2387237548828125, -5.114381313323975, 39.90932846069336 ]
[ 90.966796875, 129.814453125, 173.056640625, -0.3515625, -5.361328125, 39.19921875 ]
2.833333
85
0
85
0
[ 91.59127807617188, 134.40158081054688, 170.05699157714844, 7.154628753662109, -5.019221305847168, 39.931785583496094 ]
[ 90.966796875, 129.814453125, 172.353515625, 0, -5.2734375, 39.19921875 ]
2.866667
86
0
86
0
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[ 90.966796875, 129.814453125, 170.68359375, 1.58203125, -5.185546875, 39.19921875 ]
2.9
87
0
87
0
[ 91.72246551513672, 134.41917419433594, 165.71783447265625, 14.724790573120117, -4.2314934730529785, 40.07807922363281 ]
[ 91.0546875, 129.814453125, 170.068359375, 3.427734375, -5.009765625, 39.19921875 ]
2.933333
88
0
88
0
[ 91.842529296875, 134.40530395507812, 165.024169921875, 15.84952163696289, -4.040329933166504, 40.099281311035156 ]
[ 90.966796875, 129.814453125, 168.22265625, 5.625, -4.833984375, 39.19921875 ]
2.966667
89
0
89
0
[ 91.74430847167969, 134.4075469970703, 162.97708129882812, 19.479564666748047, -3.718635082244873, 40.1422119140625 ]
[ 90.966796875, 129.814453125, 166.46484375, 9.052734375, -4.482421875, 39.638671875 ]
3
90
0
90
0
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[ 90.966796875, 129.814453125, 165.76171875, 11.689453125, -4.21875, 39.638671875 ]
3.033333
91
0
91
0
[ 91.5887451171875, 134.4501190185547, 157.87503051757812, 28.484729766845703, -2.4744911193847656, 40.21485900878906 ]
[ 90.966796875, 129.814453125, 163.30078125, 15.380859375, -3.779296875, 39.638671875 ]
3.066667
92
0
92
0
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[ 90.966796875, 129.814453125, 161.455078125, 19.16015625, -3.515625, 39.638671875 ]
3.1
93
0
93
0
[ 91.109375, 134.45355224609375, 154.84429931640625, 33.254844665527344, -1.8527321815490723, 40.271095275878906 ]
[ 90.966796875, 129.814453125, 159.08203125, 23.994140625, -2.900390625, 39.638671875 ]
3.133333
94
0
94
0
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[ 90.966796875, 129.814453125, 157.8515625, 27.158203125, -2.548828125, 39.638671875 ]
3.166667
95
0
95
0
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[ 90.87890625, 129.814453125, 156.181640625, 31.640625, -1.669921875, 39.638671875 ]
3.2
96
0
96
0
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[ 90.52734375, 129.814453125, 155.126953125, 33.75, -1.318359375, 39.638671875 ]
3.233333
97
0
97
0
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[ 90.3515625, 129.814453125, 153.896484375, 35.5078125, -1.318359375, 39.638671875 ]
3.266667
98
0
98
0
[ 88.85250091552734, 134.59454345703125, 146.46893310546875, 46.41033935546875, -0.023582935333251953, 40.33970260620117 ]
[ 89.736328125, 129.814453125, 152.138671875, 37.96875, -0.966796875, 39.638671875 ]
3.3
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "koch",
    "total_episodes": 8,
    "total_frames": 11332,
    "total_tasks": 2,
    "total_videos": 24,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:8"
    },
    "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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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        },
        "observation.images.claw": {
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            "names": [
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            "info": {
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.front": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.is_depth_map": false,
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        "observation.images.phone": {
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            "names": [
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            "info": {
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                "has_audio": false
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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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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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