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float32
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33.7
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int64
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1.01k
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[ 27.629962921142578, -24.152542114257812, 41.730167388916016, 58.18574523925781, -34.79853439331055, 62.9331169128418, 16.26712417602539, -25.822784423828125, 2.1352312564849854, 86.51685333251953, -13.2600736618042, 30.63973045349121 ]
3.2
96
0
96
0
[ 28.199508666992188, -23.936256408691406, 42.887245178222656, 56.583221435546875, -33.95307540893555, 62.19561004638672, 16.194957733154297, -25.22957420349121, -0.00873565673828125, 86.41912078857422, -20.359750747680664, 31.81137466430664 ]
[ 27.711830139160156, -24.237287521362305, 41.99910354614258, 57.92656707763672, -34.60317611694336, 62.69137954711914, 16.26712417602539, -25.822784423828125, 2.1352312564849854, 86.60328674316406, -13.2600736618042, 30.841751098632812 ]
3.233333
97
0
97
0
[ 27.815526962280273, -25.964576721191406, 43.53921890258789, 55.90638732910156, -33.81003189086914, 59.67523193359375, 16.256254196166992, -25.889142990112305, -0.2570152282714844, 87.00767517089844, -20.730274200439453, 31.956600189208984 ]
[ 27.7936954498291, -24.32203483581543, 42.357688903808594, 57.14902877807617, -34.407814025878906, 62.369056701660156, 16.352739334106445, -25.485231399536133, 2.1352312564849854, 86.60328674316406, -13.2600736618042, 31.11111068725586 ]
3.266667
98
0
98
0
[ 27.9227294921875, -25.074535369873047, 45.25165557861328, 54.135520935058594, -33.82851791381836, 59.19329071044922, 16.197635650634766, -26.031206130981445, 0.034534454345703125, 86.88819885253906, -20.411834716796875, 32.332767486572266 ]
[ 27.711830139160156, -23.983051300048828, 42.80591583251953, 56.371490478515625, -34.35897445678711, 62.369056701660156, 16.352739334106445, -25.316455841064453, 2.1352312564849854, 86.60328674316406, -13.2600736618042, 31.178451538085938 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "bi_so100_follower",
    "total_episodes": 1,
    "total_frames": 1012,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.images.cam4": {
            "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": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam3": {
            "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": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam2": {
            "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": 30,
                "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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