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Datasets:
apayan
/
so100_dice1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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1
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
0
0
0
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
0.05
1
0
1
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
0.1
2
0
2
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
0.15
3
0
3
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
0.2
4
0
4
0
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0.25
5
0
5
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
0.3
6
0
6
0
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0.35
7
0
7
0
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0.4
8
0
8
0
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0.45
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0
9
0
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0.5
10
0
10
0
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0.55
11
0
11
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
0.6
12
0
12
0
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0.65
13
0
13
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
0.7
14
0
14
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
0.75
15
0
15
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
0.8
16
0
16
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
0.85
17
0
17
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
0.9
18
0
18
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
0.95
19
0
19
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
1
20
0
20
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
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1.05
21
0
21
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
1.1
22
0
22
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
1.15
23
0
23
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
1.2
24
0
24
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
1.25
25
0
25
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
1.3
26
0
26
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
1.35
27
0
27
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
1.4
28
0
28
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
1.45
29
0
29
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
1.5
30
0
30
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
1.55
31
0
31
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
1.6
32
0
32
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
1.65
33
0
33
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
1.7
34
0
34
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
1.75
35
0
35
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
1.8
36
0
36
0
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1.85
37
0
37
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
1.9
38
0
38
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
1.95
39
0
39
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
2
40
0
40
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
2.05
41
0
41
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
2.1
42
0
42
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
2.15
43
0
43
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
2.2
44
0
44
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
2.25
45
0
45
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
2.3
46
0
46
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
2.35
47
0
47
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
2.4
48
0
48
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
2.45
49
0
49
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
2.5
50
0
50
0
[ 4.21875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
2.55
51
0
51
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
2.6
52
0
52
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
2.65
53
0
53
0
[ 4.04296875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
2.7
54
0
54
0
[ 3.955078125, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
2.75
55
0
55
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
2.8
56
0
56
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
2.85
57
0
57
0
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2.9
58
0
58
0
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2.95
59
0
59
0
[ 3.8671875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
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3
60
0
60
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.7022472023963928 ]
3.05
61
0
61
0
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[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.6320224404335022 ]
3.1
62
0
62
0
[ 3.076171875, 195.732421875, 177.978515625, 55.8984375, -2.021484375, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.9129213094711304 ]
3.15
63
0
63
0
[ 3.1640625, 195.732421875, 177.978515625, 55.986328125, -1.7578125, 0 ]
[ 3.779296875, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 1.1235954761505127 ]
3.2
64
0
64
0
[ 3.33984375, 195.732421875, 177.978515625, 55.986328125, -1.669921875, 0 ]
[ 3.69140625, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.5617977380752563 ]
3.25
65
0
65
0
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[ 3.69140625, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
3.3
66
0
66
0
[ 3.427734375, 195.732421875, 177.978515625, 55.986328125, -1.669921875, 0 ]
[ 3.69140625, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
3.35
67
0
67
0
[ 3.251953125, 195.732421875, 177.978515625, 55.986328125, -1.845703125, 0 ]
[ 3.69140625, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
3.4
68
0
68
0
[ 3.076171875, 195.732421875, 177.978515625, 55.986328125, -2.021484375, 0 ]
[ 3.69140625, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
3.45
69
0
69
0
[ 3.076171875, 195.732421875, 177.978515625, 55.8984375, -2.021484375, 0 ]
[ 3.603515625, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
3.5
70
0
70
0
[ 3.515625, 195.732421875, 177.978515625, 55.634765625, -2.021484375, 0 ]
[ 3.603515625, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
3.55
71
0
71
0
[ 3.603515625, 195.732421875, 177.71484375, 55.37109375, -2.021484375, 0 ]
[ 3.603515625, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
3.6
72
0
72
0
[ 3.8671875, 195.46875, 177.36328125, 54.228515625, -2.021484375, -0.09354536980390549 ]
[ 3.603515625, 190.1953125, 178.2421875, 55.72265625, -2.021484375, 0.4915730655193329 ]
3.65
73
0
73
0
[ 4.04296875, 195.29296875, 177.01171875, 53.173828125, -2.021484375, -0.09354536980390549 ]
[ 3.603515625, 190.1953125, 178.2421875, 55.458984375, -2.021484375, 0.4915730655193329 ]
3.7
74
0
74
0
[ 4.21875, 194.677734375, 176.30859375, 52.822265625, -2.021484375, -0.09354536980390549 ]
[ 3.69140625, 190.1953125, 178.2421875, 54.66796875, -1.669921875, 0.4915730655193329 ]
3.75
75
0
75
0
[ 4.306640625, 193.7109375, 175.869140625, 52.734375, -2.021484375, -0.09354536980390549 ]
[ 3.69140625, 190.1953125, 178.2421875, 53.96484375, -1.669921875, 0.4915730655193329 ]
3.8
76
0
76
0
[ 4.482421875, 193.18359375, 175.517578125, 52.646484375, -2.021484375, -0.09354536980390549 ]
[ 3.69140625, 190.1953125, 177.978515625, 53.61328125, -1.669921875, 0.4915730655193329 ]
3.85
77
0
77
0
[ 4.833984375, 192.919921875, 175.517578125, 51.6796875, -2.021484375, 0.5612722039222717 ]
[ 3.69140625, 190.1953125, 177.71484375, 53.4375, -1.669921875, 0.4915730655193329 ]
3.9
78
0
78
0
[ 5.09765625, 192.919921875, 175.517578125, 51.328125, -2.021484375, 3.274087905883789 ]
[ 3.69140625, 190.1953125, 177.626953125, 53.0859375, -1.669921875, 0.4915730655193329 ]
3.95
79
0
79
0
[ 5.09765625, 192.65625, 175.341796875, 51.15234375, -1.669921875, 4.770813941955566 ]
[ 4.130859375, 190.1953125, 177.5390625, 52.3828125, -1.669921875, 0.6320224404335022 ]
4
80
0
80
0
[ 5.09765625, 192.041015625, 174.814453125, 51.064453125, -1.669921875, 4.957904815673828 ]
[ 4.306640625, 190.1953125, 177.36328125, 52.119140625, -1.669921875, 1.9662922620773315 ]
4.05
81
0
81
0
[ 5.09765625, 191.337890625, 174.111328125, 51.064453125, -2.021484375, 6.361084938049316 ]
[ 4.306640625, 190.1953125, 177.099609375, 51.85546875, -1.669921875, 3.5112359523773193 ]
4.1
82
0
82
0
[ 5.2734375, 190.546875, 173.14453125, 51.328125, -2.021484375, 8.32553768157959 ]
[ 4.306640625, 190.1953125, 176.572265625, 51.767578125, -1.669921875, 4.353932857513428 ]
4.15
83
0
83
0
[ 5.44921875, 189.404296875, 171.9140625, 51.50390625, -2.021484375, 8.886810302734375 ]
[ 4.482421875, 190.107421875, 175.95703125, 51.767578125, -1.669921875, 5.688202381134033 ]
4.2
84
0
84
0
[ 5.44921875, 187.998046875, 170.419921875, 51.6796875, -2.109375, 9.16744613647461 ]
[ 4.74609375, 189.755859375, 175.078125, 51.767578125, -1.669921875, 7.303370475769043 ]
4.25
85
0
85
0
[ 5.537109375, 186.591796875, 169.013671875, 51.767578125, -2.109375, 9.822263717651367 ]
[ 4.921875, 189.404296875, 173.935546875, 51.767578125, -1.669921875, 8.07584285736084 ]
4.3
86
0
86
0
[ 5.9765625, 185.537109375, 167.607421875, 51.943359375, -2.109375, 10.102900505065918 ]
[ 4.921875, 188.525390625, 172.529296875, 51.767578125, -1.669921875, 8.637640953063965 ]
4.35
87
0
87
0
[ 6.50390625, 184.5703125, 166.376953125, 51.943359375, -2.109375, 10.570626258850098 ]
[ 5.09765625, 187.3828125, 171.2109375, 51.767578125, -1.669921875, 9.339887619018555 ]
4.4
88
0
88
0
[ 6.767578125, 183.69140625, 165.234375, 52.03125, -2.724609375, 11.131898880004883 ]
[ 5.712890625, 185.80078125, 169.8046875, 51.85546875, -1.669921875, 9.761236190795898 ]
4.45
89
0
89
0
[ 6.767578125, 183.1640625, 164.35546875, 51.943359375, -4.306640625, 11.693171501159668 ]
[ 5.888671875, 185.185546875, 168.57421875, 51.943359375, -1.845703125, 10.182583808898926 ]
4.5
90
0
90
0
[ 6.767578125, 182.373046875, 163.4765625, 51.767578125, -6.328125, 12.160898208618164 ]
[ 6.416015625, 184.833984375, 167.431640625, 51.943359375, -2.548828125, 10.814606666564941 ]
4.55
91
0
91
0
[ 6.767578125, 181.7578125, 162.7734375, 51.50390625, -9.140625, 12.909260749816895 ]
[ 6.15234375, 183.69140625, 166.376953125, 51.943359375, -3.779296875, 11.306180000305176 ]
4.6
92
0
92
0
[ 6.767578125, 181.318359375, 162.333984375, 51.240234375, -12.12890625, 13.657623291015625 ]
[ 6.240234375, 182.373046875, 165.5859375, 51.943359375, -5.80078125, 11.79775333404541 ]
4.65
93
0
93
0
[ 6.767578125, 181.0546875, 162.158203125, 50.44921875, -15.029296875, 14.125349998474121 ]
[ 6.240234375, 182.197265625, 164.8828125, 51.943359375, -8.173828125, 12.42977523803711 ]
4.7
94
0
94
0
[ 6.943359375, 180.703125, 162.158203125, 49.130859375, -18.017578125, 14.405986785888672 ]
[ 6.240234375, 182.28515625, 164.35546875, 51.6796875, -10.8984375, 13.061798095703125 ]
4.75
95
0
95
0
[ 6.943359375, 180.3515625, 162.158203125, 48.076171875, -21.708984375, 14.218896865844727 ]
[ 6.240234375, 181.7578125, 164.35546875, 50.9765625, -13.623046875, 13.553370475769043 ]
4.8
96
0
96
0
[ 6.943359375, 179.912109375, 162.158203125, 46.7578125, -25.13671875, 14.499531745910645 ]
[ 6.240234375, 180.52734375, 164.1796875, 49.921875, -16.5234375, 13.693819999694824 ]
4.85
97
0
97
0
[ 7.119140625, 179.47265625, 162.0703125, 45.3515625, -28.4765625, 14.686623573303223 ]
[ 6.240234375, 180.52734375, 164.1796875, 48.8671875, -19.951171875, 13.904494285583496 ]
4.9
98
0
98
0
[ 7.294921875, 178.857421875, 161.89453125, 44.208984375, -31.201171875, 14.967259407043457 ]
[ 6.240234375, 180.263671875, 164.1796875, 47.724609375, -23.291015625, 14.115168571472168 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so100",
    "total_episodes": 2,
    "total_frames": 1305,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
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    "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": {
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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.top": {
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        "observation.images.front": {
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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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            "names": null
        }
    }
}

Citation

BibTeX:

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