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float32
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33.3
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int64
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3.1
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94
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[ 30.857507705688477, -22.670400619506836, 74.87161254882812, 25.810855865478516, -26.38113021850586, 5.213092803955078, 18.888492584228516, -27.0318660736084, 4.0494537353515625, 80.34820556640625, -12.442384719848633, 34.58601379394531 ]
[ 30.004093170166016, -21.779661178588867, 67.0999526977539, 30.712743759155273, -28.986568450927734, 20.225624084472656, 18.75, -25.991561889648438, 6.316726207733154, 80.0345687866211, -11.452991485595703, 33.93939208984375 ]
3.166667
95
0
95
0
[ 30.90187644958496, -22.941255569458008, 74.89836883544922, 25.763200759887695, -26.347753524780273, 5.18133544921875, 18.85240364074707, -26.9195556640625, 3.8584976196289062, 80.52455139160156, -12.334282875061035, 34.64558792114258 ]
[ 30.16782569885254, -22.457626342773438, 67.81712341308594, 29.676025390625, -28.30280876159668, 18.77518081665039, 18.75, -25.991561889648438, 6.316726207733154, 80.0345687866211, -11.452991485595703, 33.93939208984375 ]
3.2
96
0
96
0
[ 31.004972457885742, -23.883562088012695, 75.36503601074219, 25.43903350830078, -25.812076568603516, 5.230371475219727, 18.875038146972656, -26.881458282470703, 3.7593421936035156, 80.53353881835938, -12.639854431152344, 34.78937530517578 ]
[ 30.16782569885254, -22.966102600097656, 68.44464111328125, 28.7257022857666, -27.91208839416504, 17.485898971557617, 18.75, -25.991561889648438, 6.316726207733154, 80.0345687866211, -11.452991485595703, 33.93939208984375 ]
3.233333
97
0
97
0
[ 31.146196365356445, -24.64475440979004, 75.33075714111328, 25.585317611694336, -25.578914642333984, 5.251697540283203, 18.882102966308594, -26.898582458496094, 3.510265350341797, 80.69243621826172, -12.425593376159668, 34.774497985839844 ]
[ 30.41342544555664, -23.898305892944336, 69.0721664428711, 27.948163986206055, -27.374847412109375, 16.19661521911621, 18.75, -25.991561889648438, 6.316726207733154, 80.0345687866211, -11.452991485595703, 34.141414642333984 ]
3.266667
98
0
98
0
[ 31.23221778869629, -25.425596237182617, 76.09371948242188, 25.124460220336914, -25.181758880615234, 5.28291130065918, 18.798784255981445, -27.01509666442871, 3.521148681640625, 80.76602935791016, -12.598821640014648, 34.79425048828125 ]
[ 30.49529266357422, -24.32203483581543, 69.87897491455078, 27.25701904296875, -27.03296661376953, 14.826752662658691, 18.75, -25.991561889648438, 6.316726207733154, 80.12100219726562, -11.5018310546875, 34.276092529296875 ]
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": 1000,
    "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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