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float32
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33.1
frame_index
int64
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994
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int64
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int64
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[ -1.7683186531066895, 41.78145217895508, -45.84360122680664, 0.5934290885925293, 22.045860290527344, 0.4473835229873657, 90, -1.456965684890747, 38.761260986328125, -46.43435287475586, -1.2637343406677246, 23.3323917388916, -5.42675256729126, 101.4000015258789 ]
[ -2.065999984741211, 41.38600158691406, -46.691001892089844, 1.4900000095367432, 23.849000930786133, -0.5149999856948853, 69.72000122070312, -1.4880000352859497, 38.45500183105469, -47.07099914550781, -0.6690000295639038, 24.989999771118164, -6.177999973297119, 98.9000015258789 ]
2.933333
88
0
88
0
[ -1.583357334136963, 42.0291862487793, -45.38434600830078, 0.12187915295362473, 21.305421829223633, 1.0081595182418823, 90, -1.3858634233474731, 38.95523452758789, -46.0443229675293, -1.6512932777404785, 22.63165855407715, -5.0431294441223145, 101.4000015258789 ]
[ -1.9199999570846558, 41.66400146484375, -46.25199890136719, 0.9580000042915344, 23.13800048828125, 0, 69.72000122070312, -1.4329999685287476, 38.70500183105469, -46.70000076293945, -1.0140000581741333, 24.364999771118164, -5.755000114440918, 98.9000015258789 ]
2.966667
89
0
89
0
[ -1.4571257829666138, 42.287845611572266, -44.88560104370117, -0.25324732065200806, 20.483875274658203, 1.5161023139953613, 90, -1.3546446561813354, 39.13850784301758, -45.610198974609375, -1.97520112991333, 21.87325668334961, -4.719724655151367, 101.4000015258789 ]
[ -1.6759999990463257, 41.92100143432617, -45.7400016784668, 0.5550000071525574, 22.284000396728516, 0.4440000057220459, 69.72000122070312, -1.4199999570846558, 38.922000885009766, -46.32099914550781, -1.2690000534057617, 23.527000427246094, -5.366000175476074, 98.9000015258789 ]
3
90
0
90
0
[ -1.3021272420883179, 42.54850769042969, -44.37944030761719, -0.696129560470581, 19.686111450195312, 2.14233660697937, 90, -1.3095526695251465, 39.2947883605957, -45.154850006103516, -2.3830552101135254, 21.131561279296875, -4.314184665679932, 101.4000015258789 ]
[ -1.5839999914169312, 42.159000396728516, -45.25, 0, 21.486000061035156, 1.0240000486373901, 69.72000122070312, -1.371000051498413, 39.06999969482422, -45.89699935913086, -1.6770000457763672, 22.788000106811523, -4.952000141143799, 98.9000015258789 ]
3.033333
91
0
91
0
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[ -1.437000036239624, 42.42499923706055, -44.75199890136719, -0.33899998664855957, 20.725000381469727, 1.6050000190734863, 69.72000122070312, -1.3489999771118164, 39.24300003051758, -45.46900177001953, -2.0280001163482666, 22.054000854492188, -4.639999866485596, 98.9000015258789 ]
3.066667
92
0
92
0
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[ -1.2139999866485596, 42.60100173950195, -44.323001861572266, -0.7990000247955322, 19.94499969482422, 2.0739998817443848, 69.72000122070312, -1.3020000457763672, 39.40700149536133, -45.01499938964844, -2.3389999866485596, 21.246000289916992, -4.329999923706055, 98.9000015258789 ]
3.1
93
0
93
0
[ -0.9473831653594971, 43.392791748046875, -42.76637268066406, -1.7832895517349243, 17.227121353149414, 3.748603105545044, 90, -1.270196795463562, 39.736637115478516, -43.7273063659668, -3.4320154190063477, 18.96879005432129, -3.2076168060302734, 101.4000015258789 ]
[ -1.1970000267028809, 42.8489990234375, -43.79199981689453, -1.1759999990463257, 19.172000885009766, 2.6630001068115234, 69.72000122070312, -1.3020000457763672, 39.55799865722656, -44.619998931884766, -2.755000114440918, 20.729999542236328, -3.888000011444092, 98.9000015258789 ]
3.133333
94
0
94
0
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[ -1.0520000457763672, 43.14400100708008, -43.2400016784668, -1.5670000314712524, 18.381000518798828, 3.177000045776367, 69.72000122070312, -1.281999945640564, 39.691001892089844, -44.106998443603516, -3.177999973297119, 19.893999099731445, -3.5409998893737793, 98.9000015258789 ]
3.166667
95
0
95
0
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[ -0.9449999928474426, 43.48699951171875, -42.659000396728516, -1.8650000095367432, 17.618999481201172, 3.697999954223633, 69.72000122070312, -1.281999945640564, 39.75299835205078, -43.62699890136719, -3.4760000705718994, 19.2810001373291, -3.140000104904175, 98.9000015258789 ]
3.2
96
0
96
0
[ -0.7019044756889343, 44.27192306518555, -41.14677429199219, -2.888784408569336, 14.788090705871582, 5.1887006759643555, 90, -1.127681016921997, 39.96347427368164, -42.179931640625, -4.377927780151367, 16.964691162109375, -2.0714027881622314, 101.4000015258789 ]
[ -0.8460000157356262, 43.77899932861328, -42.19499969482422, -2.260999917984009, 16.84000015258789, 4.206999778747559, 69.72000122070312, -1.225000023841858, 39.90399932861328, -43.20000076293945, -3.7720000743865967, 18.47599983215332, -2.867000102996826, 98.9000015258789 ]
3.233333
97
0
97
0
[ -0.666100025177002, 44.54660415649414, -40.60611343383789, -3.2722604274749756, 13.962271690368652, 5.636229515075684, 90, -1.0222487449645996, 40.02207946777344, -41.65908432006836, -4.794651508331299, 16.300283432006836, -1.6034932136535645, 101.4000015258789 ]
[ -0.7229999899864197, 44.04499816894531, -41.64899826049805, -2.6559998989105225, 16.011999130249023, 4.683000087738037, 69.72000122070312, -1.1339999437332153, 39.974998474121094, -42.667999267578125, -4.1579999923706055, 17.777000427246094, -2.36899995803833, 98.9000015258789 ]
3.266667
98
0
98
0
[ -0.6650623083114624, 44.84848403930664, -40.054115295410156, -3.715797185897827, 13.082650184631348, 6.152602672576904, 90, -0.9449359774589539, 40.1024055480957, -41.14060974121094, -5.171210765838623, 15.616021156311035, -1.1778514385223389, 101.4000015258789 ]
[ -0.7200000286102295, 44.4900016784668, -41.06100082397461, -3.1419999599456787, 15.038000106811523, 5.229000091552734, 69.72000122070312, -1.0499999523162842, 40.05099868774414, -42.13800048828125, -4.48199987411499, 17.07200050354004, -1.8890000581741333, 98.9000015258789 ]
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": 8908,
    "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"
            ],
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        },
        "observation.state": {
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            "names": [
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                "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",
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                "right_gripper.pos"
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        "observation.images.left_main": {
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                "video.width": 1280,
                "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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            "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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