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Datasets:
irvinh
/
single-action-shoulder-pan

Tasks:
Robotics
Modalities:
Tabular
Time-series
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
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1
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float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
[ 15.758241653442383, -83.9120864868164, 96.13186645507812, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.758241653442383, -83.9120864868164, 96.13186645507812, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
0
0
0
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[ 6.373626232147217, -83.9120864868164, 96.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
0.1
1
0
1
0
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0.2
2
0
2
0
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0.3
3
0
3
0
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0.4
4
0
4
0
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0.5
5
0
5
0
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0.6
6
0
6
0
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0.7
7
0
7
0
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0.8
8
0
8
0
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0.9
9
0
9
0
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1
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1.1
11
0
11
0
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1.2
12
0
12
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1.3
13
0
13
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1.4
14
0
14
0
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1.5
15
0
15
0
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1.6
16
0
16
0
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1.7
17
0
17
0
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1.8
18
0
18
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1.9
19
0
19
0
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2
20
0
20
0
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2.1
21
0
21
0
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2.2
22
0
22
0
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2.3
23
0
23
0
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2.4
24
0
24
0
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2.5
25
0
25
0
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2.6
26
0
26
0
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2.7
27
0
27
0
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2.8
28
0
28
0
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2.9
29
0
29
0
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3
30
0
30
0
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3.1
31
0
31
0
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3.2
32
0
32
0
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3.3
33
0
33
0
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3.4
34
0
34
0
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3.5
35
0
35
0
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3.6
36
0
36
0
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3.7
37
0
37
0
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3.8
38
0
38
0
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3.9
39
0
39
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0
0
1
40
1
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0.1
1
1
41
1
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0.2
2
1
42
1
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0.3
3
1
43
1
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0.4
4
1
44
1
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0.5
5
1
45
1
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0.6
6
1
46
1
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0.7
7
1
47
1
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0.8
8
1
48
1
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[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
0.9
9
1
49
1
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1
10
1
50
1
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1.1
11
1
51
1
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1.2
12
1
52
1
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[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
1.3
13
1
53
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
1.4
14
1
54
1
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1.5
15
1
55
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
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1.6
16
1
56
1
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1.7
17
1
57
1
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1.8
18
1
58
1
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1.9
19
1
59
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
2
20
1
60
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
2.1
21
1
61
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
2.2
22
1
62
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
2.3
23
1
63
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
2.4
24
1
64
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
2.5
25
1
65
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
2.6
26
1
66
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
2.7
27
1
67
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
2.8
28
1
68
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
2.9
29
1
69
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
3
30
1
70
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
3.1
31
1
71
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
3.2
32
1
72
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
3.3
33
1
73
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
3.4
34
1
74
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
3.5
35
1
75
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
3.6
36
1
76
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
3.7
37
1
77
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
3.8
38
1
78
1
[ 5.340659141540527, -83.47252655029297, 86.04395294189453, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.47252655029297, 88.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
3.9
39
1
79
1
[ -4.4175825119018555, -83.20879364013672, 78.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 5.5824174880981445, -83.20879364013672, 81.0988998413086, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
0
0
2
80
1
[ -4.4175825119018555, -83.12088012695312, 78.48351287841797, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
[ 2.769230842590332, -83.12088012695312, 81.0988998413086, 37.4945068359375, 2.3296704292297363, 0.06901311129331589 ]
0.1
1
2
81
1
[ -4.4175825119018555, -83.12088012695312, 78.48351287841797, 37.4945068359375, 2.5934066772460938, 0.06901311129331589 ]
[ -3.0329670906066895, -83.12088012695312, 81.0988998413086, 37.4945068359375, 2.5934066772460938, 0.06901311129331589 ]
0.2
2
2
82
1
[ -4.4175825119018555, -83.12088012695312, 78.48351287841797, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
[ -3.6483516693115234, -83.12088012695312, 81.0988998413086, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
0.3
3
2
83
1
[ -4.4175825119018555, -83.12088012695312, 78.48351287841797, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
[ -4.351648330688477, -83.12088012695312, 81.0988998413086, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
0.4
4
2
84
1
[ -4.4175825119018555, -83.12088012695312, 78.48351287841797, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
[ -4, -83.12088012695312, 81.0988998413086, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
0.5
5
2
85
1
[ -4.4175825119018555, -83.12088012695312, 78.48351287841797, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
[ -4, -83.12088012695312, 81.0988998413086, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
0.6
6
2
86
1
[ -4.4175825119018555, -83.12088012695312, 78.48351287841797, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
[ -4, -83.12088012695312, 81.0988998413086, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
0.7
7
2
87
1
[ -4.4175825119018555, -83.12088012695312, 78.48351287841797, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
[ -4, -83.12088012695312, 81.0988998413086, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
0.8
8
2
88
1
[ -4.4175825119018555, -83.12088012695312, 78.48351287841797, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
[ -4, -83.12088012695312, 81.0988998413086, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
0.9
9
2
89
1
[ -4.4175825119018555, -83.12088012695312, 78.48351287841797, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
[ -4, -83.12088012695312, 81.0988998413086, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
1
10
2
90
1
[ -4.4175825119018555, -83.12088012695312, 78.48351287841797, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
[ -4, -83.12088012695312, 81.0988998413086, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
1.1
11
2
91
1
[ -4.4175825119018555, -83.12088012695312, 78.48351287841797, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
[ -4, -83.12088012695312, 81.0988998413086, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
1.2
12
2
92
1
[ -4.4175825119018555, -83.12088012695312, 78.48351287841797, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
[ -4, -83.12088012695312, 81.0988998413086, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
1.3
13
2
93
1
[ -4.4175825119018555, -83.12088012695312, 78.48351287841797, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
[ -4, -83.12088012695312, 81.0988998413086, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
1.4
14
2
94
1
[ -4.4175825119018555, -83.12088012695312, 78.48351287841797, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
[ -4, -83.12088012695312, 81.0988998413086, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
1.5
15
2
95
1
[ -4.4175825119018555, -83.12088012695312, 78.48351287841797, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
[ -4, -83.12088012695312, 81.0988998413086, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
1.6
16
2
96
1
[ -4.4175825119018555, -83.12088012695312, 78.48351287841797, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
[ -4, -83.12088012695312, 81.0988998413086, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
1.7
17
2
97
1
[ -4.4175825119018555, -83.12088012695312, 78.48351287841797, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
[ -4, -83.12088012695312, 81.0988998413086, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
1.8
18
2
98
1
[ -4.4175825119018555, -83.12088012695312, 78.48351287841797, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
[ -4, -83.12088012695312, 81.0988998413086, 37.4945068359375, 2.5054945945739746, 0.06901311129331589 ]
1.9
19
2
99
1
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so_follower",
    "total_episodes": 100,
    "total_frames": 4000,
    "total_tasks": 2,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:100"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.base_0_rgb": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left_wrist_0_rgb": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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