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[ 107.74918365478516, 131.77488708496094, 149.01600646972656, 41.71001052856445, 101.49440002441406, 22.311017990112305 ]
[ 107.138671875, 133.505859375, 152.314453125, 42.5390625, 100.546875, 21.347150802612305 ]
2.3
69
0
69
0
[ 107.9083480834961, 130.56417846679688, 148.24119567871094, 41.30312728881836, 101.642578125, 22.434717178344727 ]
[ 107.138671875, 132.978515625, 151.875, 42.275390625, 100.546875, 21.450777053833008 ]
2.333333
70
0
70
0
[ 107.85848999023438, 130.9044189453125, 148.510009765625, 41.26164245605469, 101.58834838867188, 22.46957015991211 ]
[ 106.875, 131.484375, 151.259765625, 41.572265625, 100.634765625, 21.658031463623047 ]
2.366667
71
0
71
0
[ 108.08634948730469, 128.83558654785156, 146.97669982910156, 41.152442932128906, 101.9317398071289, 22.506319046020508 ]
[ 106.875, 131.044921875, 150.908203125, 41.748046875, 100.986328125, 21.658031463623047 ]
2.4
72
0
72
0
[ 108.06263732910156, 129.09628295898438, 147.1814727783203, 41.33687210083008, 101.91444396972656, 22.501752853393555 ]
[ 106.69921875, 130.341796875, 150.29296875, 41.396484375, 100.986328125, 21.658031463623047 ]
2.433333
73
0
73
0
[ 108.24069213867188, 127.70279693603516, 146.25762939453125, 40.8009033203125, 102.06846618652344, 22.655780792236328 ]
[ 107.314453125, 128.583984375, 148.623046875, 41.396484375, 100.986328125, 21.658031463623047 ]
2.466667
74
0
74
0
[ 108.25596618652344, 127.66868591308594, 146.25770568847656, 40.83128356933594, 102.09483337402344, 22.66345977783203 ]
[ 107.841796875, 128.583984375, 148.623046875, 41.396484375, 100.8984375, 21.658031463623047 ]
2.5
75
0
75
0
[ 108.271728515625, 127.38760375976562, 145.90753173828125, 41.06297302246094, 102.20525360107422, 22.535255432128906 ]
[ 107.9296875, 127.6171875, 148.271484375, 40.869140625, 101.07421875, 21.658031463623047 ]
2.533333
76
0
76
0
[ 108.39795684814453, 126.45262145996094, 145.4261016845703, 40.57048797607422, 102.25946044921875, 22.752418518066406 ]
[ 107.40234375, 127.177734375, 148.18359375, 40.60546875, 101.6015625, 21.658031463623047 ]
2.566667
77
0
77
0
[ 108.4814224243164, 125.86338806152344, 145.08238220214844, 40.31071472167969, 102.31964874267578, 22.869840621948242 ]
[ 107.40234375, 126.9140625, 147.392578125, 40.78125, 101.6015625, 21.658031463623047 ]
2.6
78
0
78
0
[ 108.53390502929688, 125.45182800292969, 144.76470947265625, 40.4688835144043, 102.44953155517578, 22.809772491455078 ]
[ 107.490234375, 126.2109375, 147.041015625, 40.341796875, 101.6015625, 21.658031463623047 ]
2.633333
79
0
79
0
[ 108.49945068359375, 125.50838470458984, 144.67404174804688, 40.64053726196289, 102.45574951171875, 22.75918960571289 ]
[ 107.578125, 125.595703125, 146.865234375, 40.341796875, 101.6015625, 21.658031463623047 ]
2.666667
80
0
80
0
[ 108.43147277832031, 126.0733413696289, 145.0799102783203, 40.772705078125, 102.38858795166016, 22.730804443359375 ]
[ 107.666015625, 125.244140625, 146.42578125, 40.341796875, 101.6015625, 21.658031463623047 ]
2.7
81
0
81
0
[ 108.68633270263672, 124.24537658691406, 143.9891357421875, 40.20946502685547, 102.64448547363281, 22.97003936767578 ]
[ 107.666015625, 125.15625, 146.337890625, 40.341796875, 101.6015625, 21.658031463623047 ]
2.733333
82
0
82
0
[ 108.698486328125, 124.02116394042969, 143.8838348388672, 40.047149658203125, 102.61279296875, 23.005016326904297 ]
[ 107.666015625, 125.15625, 146.337890625, 40.341796875, 101.6015625, 21.658031463623047 ]
2.766667
83
0
83
0
[ 108.73416900634766, 123.77052307128906, 143.6811981201172, 39.993770599365234, 102.6699447631836, 22.982036590576172 ]
[ 107.666015625, 124.453125, 145.72265625, 40.341796875, 101.6015625, 21.658031463623047 ]
2.8
84
0
84
0
[ 108.6907730102539, 124.32667541503906, 144.03550720214844, 40.41072082519531, 102.6986083984375, 22.888635635375977 ]
[ 107.490234375, 124.013671875, 145.107421875, 40.341796875, 101.953125, 22.383419036865234 ]
2.833333
85
0
85
0
[ 108.87980651855469, 122.8517074584961, 143.1453857421875, 39.839576721191406, 102.83209991455078, 23.11310386657715 ]
[ 107.40234375, 123.3984375, 145.01953125, 39.7265625, 101.953125, 22.176166534423828 ]
2.866667
86
0
86
0
[ 108.92120361328125, 122.66481018066406, 143.026123046875, 39.99154281616211, 102.9349136352539, 23.13379669189453 ]
[ 107.40234375, 123.046875, 145.1953125, 40.078125, 101.689453125, 22.176166534423828 ]
2.9
87
0
87
0
[ 108.7994384765625, 123.55438232421875, 143.5612030029297, 40.24116516113281, 102.81243896484375, 23.031848907470703 ]
[ 107.40234375, 122.255859375, 144.931640625, 39.462890625, 101.953125, 22.48704719543457 ]
2.933333
88
0
88
0
[ 108.86368560791016, 122.6244888305664, 142.93728637695312, 39.69514083862305, 102.83980560302734, 23.144351959228516 ]
[ 107.40234375, 122.255859375, 144.84375, 39.462890625, 101.6015625, 22.48704719543457 ]
2.966667
89
0
89
0
[ 109.0574722290039, 121.61677551269531, 142.34878540039062, 39.60981750488281, 103.09249877929688, 23.21743392944336 ]
[ 107.40234375, 122.255859375, 144.755859375, 39.814453125, 101.953125, 22.48704719543457 ]
3
90
0
90
0
[ 108.94071960449219, 122.65853118896484, 142.9413299560547, 40.03790283203125, 102.97998809814453, 23.037960052490234 ]
[ 107.40234375, 121.904296875, 144.228515625, 39.375, 101.953125, 22.48704719543457 ]
3.033333
91
0
91
0
[ 109.41856384277344, 119.36140441894531, 140.96449279785156, 39.03118896484375, 103.46580505371094, 23.541038513183594 ]
[ 108.193359375, 121.11328125, 144.140625, 39.375, 102.65625, 22.48704719543457 ]
3.066667
92
0
92
0
[ 109.37184143066406, 119.04934692382812, 140.81251525878906, 38.703453063964844, 103.44066619873047, 23.604957580566406 ]
[ 108.6328125, 121.11328125, 143.96484375, 39.638671875, 102.392578125, 22.48704719543457 ]
3.1
93
0
93
0
[ 109.20404815673828, 120.43024444580078, 141.64907836914062, 39.062400817871094, 103.26713562011719, 23.39138412475586 ]
[ 108.896484375, 119.35546875, 142.3828125, 38.759765625, 102.392578125, 22.48704719543457 ]
3.133333
94
0
94
0
[ 109.3920669555664, 119.2823257446289, 140.9286346435547, 38.77002716064453, 103.43171691894531, 23.588516235351562 ]
[ 108.80859375, 119.267578125, 142.20703125, 39.19921875, 103.0078125, 22.48704719543457 ]
3.166667
95
0
95
0
[ 109.55604553222656, 117.76707458496094, 139.99838256835938, 38.49976348876953, 103.68387603759766, 23.695207595825195 ]
[ 108.544921875, 119.267578125, 142.119140625, 39.111328125, 102.83203125, 22.48704719543457 ]
3.2
96
0
96
0
[ 109.5229721069336, 119.24130249023438, 140.7003936767578, 39.246952056884766, 103.71469116210938, 23.552080154418945 ]
[ 108.45703125, 118.828125, 141.85546875, 38.49609375, 103.0078125, 22.48704719543457 ]
3.233333
97
0
97
0
[ 109.71659088134766, 116.08590698242188, 138.88380432128906, 38.041778564453125, 103.86724090576172, 23.890865325927734 ]
[ 108.544921875, 118.037109375, 141.416015625, 38.49609375, 103.0078125, 22.48704719543457 ]
3.266667
98
0
98
0
[ 110.10635375976562, 113.3220443725586, 136.95541381835938, 36.989288330078125, 104.40373229980469, 24.24849510192871 ]
[ 108.80859375, 118.037109375, 141.416015625, 39.111328125, 103.095703125, 22.48704719543457 ]
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": 10,
    "total_frames": 9763,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "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
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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