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float32
0
47
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int64
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1.41k
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int64
0
9
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int64
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11.9k
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2.533333
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2.6
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2.633333
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2.7
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2.8
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2.833333
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2.9
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3
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3.033333
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91
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[ 0.5674842596054077, 25.954448699951172, -55.92875289916992, -0.07109152525663376, 42.17530822753906, -3.063554525375366, 101.4000015258789, -3.0131611824035645, 26.406089782714844, -57.2689323425293, 1.3299020528793335, 46.991390228271484, 4.489867687225342, 101.4000015258789 ]
[ 0.6029999852180481, 25.690000534057617, -56.09400177001953, 0, 42.50699996948242, -2.996000051498413, 58, -3.118000030517578, 26.194000244140625, -57.349998474121094, 1.3359999656677246, 47.31800079345703, 4.505000114440918, 18.700000762939453 ]
3.066667
92
0
92
0
[ 0.4703727066516876, 26.10953140258789, -55.833316802978516, -0.17391468584537506, 41.90814208984375, -3.0768749713897705, 101.4000015258789, -2.9923553466796875, 26.56436538696289, -57.201778411865234, 1.326098918914795, 46.795799255371094, 4.500151634216309, 101.4000015258789 ]
[ 0.6029999852180481, 25.937000274658203, -55.959999084472656, 0, 42.224998474121094, -2.9839999675750732, 80.0999984741211, -3.052000045776367, 26.31999969482422, -57.28300094604492, 1.3359999656677246, 47.16600036621094, 4.505000114440918, 30.899999618530273 ]
3.1
93
0
93
0
[ 0.3556237816810608, 26.231121063232422, -55.744407653808594, -0.2662663757801056, 41.6698112487793, -3.0919463634490967, 101.4000015258789, -2.962477922439575, 26.73813819885254, -57.112396240234375, 1.3066378831863403, 46.55870056152344, 4.516587734222412, 101.4000015258789 ]
[ 0.6029999852180481, 26.025999069213867, -55.85100173950195, 0, 42.095001220703125, -3.0139999389648438, 88.69999694824219, -3.052000045776367, 26.451000213623047, -57.224998474121094, 1.3359999656677246, 46.77899932861328, 4.60699987411499, 49.900001525878906 ]
3.133333
94
0
94
0
[ 0.1954057663679123, 26.371170043945312, -55.674171447753906, -0.3423067331314087, 41.43326950073242, -3.116272449493408, 101.4000015258789, -2.9492452144622803, 26.912046432495117, -57.04533004760742, 1.302417516708374, 46.34149169921875, 4.519331932067871, 101.4000015258789 ]
[ 0.4869999885559082, 26.158000946044922, -55.85100173950195, 0, 41.83300018310547, -3.0139999389648438, 94.30000305175781, -2.994999885559082, 26.68000030517578, -57.16999816894531, 1.3359999656677246, 46.6510009765625, 4.60699987411499, 68.0999984741211 ]
3.166667
95
0
95
0
[ 0.024709267541766167, 26.49516487121582, -55.58541488647461, -0.42469292879104614, 41.17534255981445, -3.1403629779815674, 101.4000015258789, -2.9446768760681152, 27.070051193237305, -56.97011184692383, 1.322826623916626, 46.12470626831055, 4.507871627807617, 101.4000015258789 ]
[ 0.36500000953674316, 26.24799919128418, -55.7599983215332, 0, 41.5369987487793, -3.0139999389648438, 97, -2.994999885559082, 26.847999572753906, -57.10300064086914, 1.3359999656677246, 46.57400131225586, 4.60699987411499, 78.19999694824219 ]
3.2
96
0
96
0
[ -0.0859929621219635, 26.62430763244629, -55.50310134887695, -0.5689598321914673, 40.92088317871094, -3.104741096496582, 101.4000015258789, -2.9356985092163086, 27.21978759765625, -56.87543869018555, 1.3380159139633179, 45.865966796875, 4.486793041229248, 101.4000015258789 ]
[ 0.15299999713897705, 26.398000717163086, -55.6349983215332, -0.3149999976158142, 41.25, -3.128999948501587, 98.30000305175781, -2.994999885559082, 27.03700065612793, -57.027000427246094, 1.3359999656677246, 46.38199996948242, 4.60699987411499, 86.69999694824219 ]
3.233333
97
0
97
0
[ -0.2022966891527176, 26.75628662109375, -55.430137634277344, -0.6872686743736267, 40.67903518676758, -3.0769660472869873, 101.4000015258789, -2.90867018699646, 27.37890625, -56.75481414794922, 1.3847920894622803, 45.541603088378906, 4.510973930358887, 101.4000015258789 ]
[ -0.019999999552965164, 26.541000366210938, -55.52199935913086, -0.4690000116825104, 41.13100051879883, -3.128999948501587, 98.80000305175781, -2.937000036239624, 27.23200035095215, -56.95199966430664, 1.3359999656677246, 46.05400085449219, 4.60699987411499, 91.69999694824219 ]
3.266667
98
0
98
0
[ -0.3065548837184906, 26.89177131652832, -55.327491760253906, -0.8083246946334839, 40.40313720703125, -3.030095100402832, 101.4000015258789, -2.8806416988372803, 27.5195255279541, -56.59200668334961, 1.439162254333496, 45.19520568847656, 4.516968250274658, 101.4000015258789 ]
[ -0.13600000739097595, 26.674999237060547, -55.42599868774414, -0.6179999709129333, 40.856998443603516, -3.128999948501587, 99.19999694824219, -2.937000036239624, 27.32699966430664, -56.847999572753906, 1.3359999656677246, 45.59299850463867, 4.60699987411499, 94.19999694824219 ]
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_piper_follower",
    "total_episodes": 10,
    "total_frames": 11891,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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": {
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            "names": [
                "left_joint1.pos",
                "left_joint2.pos",
                "left_joint3.pos",
                "left_joint4.pos",
                "left_joint5.pos",
                "left_joint6.pos",
                "left_gripper.pos",
                "right_joint1.pos",
                "right_joint2.pos",
                "right_joint3.pos",
                "right_joint4.pos",
                "right_joint5.pos",
                "right_joint6.pos",
                "right_gripper.pos"
            ],
            "shape": [
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        "observation.state": {
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                "left_joint3.pos",
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                "left_joint5.pos",
                "left_joint6.pos",
                "left_gripper.pos",
                "right_joint1.pos",
                "right_joint2.pos",
                "right_joint3.pos",
                "right_joint4.pos",
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                "right_gripper.pos"
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        "observation.images.left_main": {
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            "info": {
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                "video.width": 1280,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
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        },
        "observation.images.left_wrist": {
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            "info": {
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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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