SO-100 Datasets
Collection
Datasets collected with the SO-100 robot
•
14 items
•
Updated
action
sequence | observation.state
sequence | timestamp
float32 0
13.7
| frame_index
int64 0
411
| episode_index
int64 0
29
| index
int64 0
9.72k
| task_index
int64 0
0
|
---|---|---|---|---|---|---|
[
2.021484375,
189.4921875,
182.548828125,
45.087890625,
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0.87890625,
188.173828125,
181.845703125,
45.791015625,
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[
2.021484375,
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0.87890625,
188.173828125,
181.845703125,
45.791015625,
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[
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0.87890625,
188.173828125,
181.845703125,
45.791015625,
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[
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0.87890625,
188.173828125,
181.845703125,
45.791015625,
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[
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0.87890625,
188.173828125,
181.845703125,
45.791015625,
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[
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0.87890625,
188.173828125,
181.845703125,
45.791015625,
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[
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0.87890625,
188.173828125,
181.845703125,
45.791015625,
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[
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0.87890625,
188.173828125,
181.845703125,
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[
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188.173828125,
181.845703125,
45.791015625,
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[
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188.173828125,
181.845703125,
45.791015625,
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[
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189.4921875,
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0.87890625,
188.173828125,
181.845703125,
45.791015625,
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] | 0.333333 | 10 | 0 | 10 | 0 |
[
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189.4921875,
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188.173828125,
181.845703125,
45.791015625,
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] | 0.366667 | 11 | 0 | 11 | 0 |
[
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182.4609375,
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188.173828125,
181.845703125,
45.791015625,
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] | 0.4 | 12 | 0 | 12 | 0 |
[
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181.845703125,
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0.87890625,
188.173828125,
181.845703125,
45.791015625,
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] | 0.433333 | 13 | 0 | 13 | 0 |
[
2.63671875,
186.416015625,
180.87890625,
44.82421875,
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0.87890625,
188.0859375,
181.845703125,
45.791015625,
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] | 0.466667 | 14 | 0 | 14 | 0 |
[
2.98828125,
184.74609375,
179.6484375,
44.82421875,
0.087890625,
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0.87890625,
187.734375,
181.845703125,
45.791015625,
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] | 0.5 | 15 | 0 | 15 | 0 |
[
3.251953125,
182.63671875,
178.154296875,
44.82421875,
0.17578125,
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0.87890625,
187.119140625,
181.845703125,
45.791015625,
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] | 0.533333 | 16 | 0 | 16 | 0 |
[
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176.1328125,
44.82421875,
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185.2734375,
181.7578125,
45.791015625,
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] | 0.566667 | 17 | 0 | 17 | 0 |
[
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45,
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1.58203125,
182.548828125,
181.7578125,
45.791015625,
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] | 0.6 | 18 | 0 | 18 | 0 |
[
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173.056640625,
170.947265625,
45.087890625,
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2.548828125,
180,
181.40625,
45.791015625,
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] | 0.633333 | 19 | 0 | 19 | 0 |
[
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169.189453125,
168.046875,
45.087890625,
1.23046875,
0
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2.8125,
177.5390625,
180.3515625,
45.791015625,
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1.0971786975860596
] | 0.666667 | 20 | 0 | 20 | 0 |
[
5.625,
165.146484375,
164.8828125,
45.263671875,
1.40625,
0
] | [
2.724609375,
174.19921875,
177.71484375,
45.791015625,
-0.703125,
1.0971786975860596
] | 0.7 | 21 | 0 | 21 | 0 |
[
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161.3671875,
161.54296875,
45.87890625,
1.669921875,
0
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3.8671875,
170.68359375,
174.287109375,
45.791015625,
-0.263671875,
1.0971786975860596
] | 0.733333 | 22 | 0 | 22 | 0 |
[
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157.8515625,
158.02734375,
47.021484375,
2.109375,
0
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166.904296875,
170.595703125,
45.791015625,
0.17578125,
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] | 0.766667 | 23 | 0 | 23 | 0 |
[
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154.16015625,
154.248046875,
48.251953125,
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0
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5.09765625,
162.861328125,
166.904296875,
45.791015625,
0.17578125,
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] | 0.8 | 24 | 0 | 24 | 0 |
[
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150.380859375,
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49.74609375,
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0
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158.642578125,
163.212890625,
46.318359375,
0.87890625,
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] | 0.833333 | 25 | 0 | 25 | 0 |
[
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51.50390625,
3.515625,
0
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155.126953125,
159.9609375,
47.548828125,
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] | 0.866667 | 26 | 0 | 26 | 0 |
[
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0
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151.34765625,
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48.69140625,
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[
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56.162109375,
4.482421875,
0
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147.48046875,
152.666015625,
50.361328125,
2.28515625,
1.0971786975860596
] | 0.933333 | 28 | 0 | 28 | 0 |
[
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58.271484375,
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0
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143.349609375,
148.623046875,
52.470703125,
2.4609375,
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[
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128.49609375,
60.1171875,
4.74609375,
0
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139.130859375,
143.96484375,
54.931640625,
2.724609375,
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[
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128.759765625,
124.8046875,
61.611328125,
4.39453125,
0
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134.912109375,
139.130859375,
57.392578125,
2.98828125,
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[
11.162109375,
125.771484375,
120.76171875,
63.017578125,
4.21875,
0
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131.220703125,
134.6484375,
59.326171875,
2.724609375,
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[
11.865234375,
122.34375,
116.279296875,
65.126953125,
4.921875,
0
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9.228515625,
127.880859375,
130.60546875,
60.64453125,
3.1640625,
1.0971786975860596
] | 1.1 | 33 | 0 | 33 | 0 |
[
12.568359375,
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111.09375,
67.763671875,
5.625,
0
] | [
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124.541015625,
126.5625,
62.138671875,
3.1640625,
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] | 1.133333 | 34 | 0 | 34 | 0 |
[
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105.64453125,
70.751953125,
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0
] | [
10.546875,
121.46484375,
122.34375,
64.3359375,
3.1640625,
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] | 1.166667 | 35 | 0 | 35 | 0 |
[
13.7109375,
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99.755859375,
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0
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11.162109375,
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66.533203125,
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] | 1.2 | 36 | 0 | 36 | 0 |
[
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93.8671875,
76.9921875,
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0
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11.77734375,
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113.115234375,
69.08203125,
5.185546875,
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] | 1.233333 | 37 | 0 | 37 | 0 |
[
14.765625,
103.271484375,
88.76953125,
79.62890625,
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0
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12.392578125,
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] | 1.266667 | 38 | 0 | 38 | 0 |
[
15.205078125,
99.931640625,
84.0234375,
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0
] | [
13.0078125,
105.64453125,
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74.970703125,
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] | 1.3 | 39 | 0 | 39 | 0 |
[
15.732421875,
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79.453125,
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13.447265625,
101.953125,
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] | 1.333333 | 40 | 0 | 40 | 0 |
[
16.171875,
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75.41015625,
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0
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13.88671875,
98.26171875,
91.40625,
80.68359375,
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] | 1.366667 | 41 | 0 | 41 | 0 |
[
16.611328125,
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14.150390625,
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] | 1.4 | 42 | 0 | 42 | 0 |
[
16.962890625,
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0
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14.765625,
91.40625,
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] | 1.433333 | 43 | 0 | 43 | 0 |
[
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90,
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15.1171875,
88.59375,
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] | 1.466667 | 44 | 0 | 44 | 0 |
[
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15.556640625,
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[
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15.99609375,
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] | 1.533333 | 46 | 0 | 46 | 0 |
[
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16.435546875,
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67.939453125,
90.52734375,
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] | 1.566667 | 47 | 0 | 47 | 0 |
[
19.951171875,
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17.05078125,
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65.126953125,
91.40625,
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] | 1.6 | 48 | 0 | 48 | 0 |
[
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17.666015625,
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62.40234375,
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] | 1.633333 | 49 | 0 | 49 | 0 |
[
21.4453125,
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18.28125,
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60.1171875,
91.494140625,
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[
22.1484375,
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18.896484375,
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[
22.763671875,
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19.6875,
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23.203125,
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20.478515625,
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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This dataset was created using LeRobot.
{
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"robot_type": "so100",
"total_episodes": 30,
"total_frames": 9717,
"total_tasks": 1,
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"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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": [
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"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
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]
},
"observation.images.realsense_top": {
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"shape": [
480,
640,
3
],
"names": [
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],
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}
},
"observation.images.realsense_side": {
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480,
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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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}
}
}
BibTeX:
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