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[ -16.043956756591797, 50.984127044677734, 35.9555778503418, -64.57054901123047, -18.9743595123291, 49.856529235839844, 1.196581244468689, -19.820972442626953, -61.059478759765625, -19.15057945251465, 0.3663003742694855, 56.02018737792969 ]
2.8
84
0
84
0
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[ -16.14163589477539, 51.11111068725586, 35.9555778503418, -64.57054901123047, -17.264957427978516, 45.05021667480469, 1.245421290397644, -19.820972442626953, -61.059478759765625, -19.15057945251465, 0.3174603283405304, 55.948089599609375 ]
2.833333
85
0
85
0
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[ -16.14163589477539, 51.11111068725586, 35.9555778503418, -64.57054901123047, -16.385835647583008, 32.137733459472656, 1.2942613363265991, -19.820972442626953, -61.059478759765625, -19.15057945251465, 0.12210012227296829, 55.948089599609375 ]
2.866667
86
0
86
0
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[ -16.14163589477539, 51.238094329833984, 36.325775146484375, -64.6472396850586, -17.118436813354492, 15.710186958312988, 1.2942613363265991, -19.820972442626953, -61.059478759765625, -19.15057945251465, 0.12210012227296829, 55.948089599609375 ]
2.9
87
0
87
0
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[ -15.799756050109863, 51.492061614990234, 37.0661735534668, -65.18405151367188, -18.095237731933594, 8.895265579223633, 1.2942613363265991, -19.820972442626953, -61.059478759765625, -19.15057945251465, 0.12210012227296829, 55.948089599609375 ]
2.933333
88
0
88
0
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[ -15.45787525177002, 51.492061614990234, 37.158721923828125, -65.10736083984375, -18.19291877746582, 9.397417068481445, 1.3919414281845093, -19.820972442626953, -61.059478759765625, -19.15057945251465, 0.12210012227296829, 55.948089599609375 ]
2.966667
89
0
89
0
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[ -14.285714149475098, 51.619049072265625, 38.36186981201172, -65.10736083984375, -18.290597915649414, 9.397417068481445, 1.3919414281845093, -19.820972442626953, -61.059478759765625, -19.15057945251465, 0.12210012227296829, 55.948089599609375 ]
3
90
0
90
0
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[ -11.89255142211914, 51.238094329833984, 38.91716766357422, -65.03067779541016, -18.437118530273438, 9.397417068481445, 1.3919414281845093, -19.820972442626953, -61.059478759765625, -19.15057945251465, 0.12210012227296829, 55.948089599609375 ]
3.033333
91
0
91
0
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[ -8.962148666381836, 49.07936477661133, 38.82461929321289, -65.10736083984375, -18.876678466796875, 9.397417068481445, 1.4896215200424194, -19.820972442626953, -61.059478759765625, -19.15057945251465, 0.12210012227296829, 55.948089599609375 ]
3.066667
92
0
92
0
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[ -5.982905864715576, 44.25396728515625, 38.82461929321289, -65.72085571289062, -19.462759017944336, 9.397417068481445, 1.5873016119003296, -19.820972442626953, -61.059478759765625, -19.15057945251465, 0.12210012227296829, 55.948089599609375 ]
3.1
93
0
93
0
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[ -3.296703338623047, 38.03174591064453, 38.82461929321289, -66.71778869628906, -20, 9.397417068481445, 1.5873016119003296, -19.820972442626953, -61.059478759765625, -19.15057945251465, 0.12210012227296829, 55.948089599609375 ]
3.133333
94
0
94
0
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[ -0.5616605877876282, 32.19047546386719, 38.82461929321289, -66.79447937011719, -20.634920120239258, 9.397417068481445, 1.5873016119003296, -19.820972442626953, -61.059478759765625, -19.15057945251465, 0.12210012227296829, 55.948089599609375 ]
3.166667
95
0
95
0
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[ 3.5897436141967773, 27.746030807495117, 43.17445755004883, -66.79447937011719, -21.074481964111328, 9.397417068481445, 1.5873016119003296, -19.820972442626953, -61.059478759765625, -18.996139526367188, 0.12210012227296829, 55.948089599609375 ]
3.2
96
0
96
0
[ -0.14728280901908875, -0.08512315899133682, 0.24061883985996246, -0.37634143233299255, -0.13855700194835663, 0.46099603176116943, 2.1248340606689453, -0.087687648832798, 0.000984872691333294, 0.06119721010327339, -0.7043960094451904, -0.9405824542045593, -0.36104708909988403, 55.98923110961914 ]
[ 9.059828758239746, 24.825397491455078, 51.22628402709961, -66.64110565185547, -21.41636085510254, 9.397417068481445, 1.5873016119003296, -19.820972442626953, -61.059478759765625, -19.0733585357666, 0.12210012227296829, 55.948089599609375 ]
3.233333
97
0
97
0
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[ 16.14163589477539, 24.190475463867188, 60.111061096191406, -64.87730407714844, -21.61172103881836, 9.397417068481445, 1.5873016119003296, -19.820972442626953, -61.059478759765625, -19.0733585357666, 0.12210012227296829, 55.948089599609375 ]
3.266667
98
0
98
0
[ -0.14114101231098175, -0.11445051431655884, 0.23459558188915253, -0.36503028869628906, -0.11991576850414276, 0.6189137101173401, 1.9920319318771362, -0.08768602460622787, 0.001137827755883336, 0.06119721010327339, -0.705150842666626, -0.9400864243507385, -0.36240023374557495, 55.98923110961914 ]
[ 23.418804168701172, 24.063491821289062, 63.16520309448242, -60.12269973754883, -21.758241653442383, 9.397417068481445, 1.5384615659713745, -19.820972442626953, -61.059478759765625, -19.0733585357666, 0.12210012227296829, 55.948089599609375 ]
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_koch_follower",
    "total_episodes": 22,
    "total_frames": 5272,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:22"
    },
    "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_ee.x",
                "left_ee.y",
                "left_ee.z",
                "left_ee.wx",
                "left_ee.wy",
                "left_ee.wz",
                "left_ee.gripper_pos",
                "right_ee.x",
                "right_ee.y",
                "right_ee.z",
                "right_ee.wx",
                "right_ee.wy",
                "right_ee.wz",
                "right_ee.gripper_pos"
            ],
            "shape": [
                14
            ]
        },
        "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": [
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        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
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            "names": [
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.left_wrist": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.codec": "av1",
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        },
        "observation.images.right_wrist": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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