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bi-so101-green-tea-into-cup-test

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float32
0
19
frame_index
int64
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570
episode_index
int64
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index
int64
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3
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[ -36.160369873046875, -27.272727966308594, 78.84788513183594, -42.16867446899414, -52.28327178955078, 18.491483688354492, 2.214156150817871, -14.309484481811523, 55.32768630981445, 29.780834197998047, -51.11111068725586, 26.188880920410156 ]
3.2
96
0
96
0
[ -35.769657135009766, -27.022518157958984, 76.21868133544922, -43.04404830932617, -51.404151916503906, 29.89771842956543, 2.63752818107605, -11.138923645019531, 54.75113296508789, 25.366695404052734, -50.91575241088867, 25.80645179748535 ]
[ -36.23747253417969, -27.272727966308594, 78.84788513183594, -42.16867446899414, -52.0390739440918, 19.62692642211914, 2.214156150817871, -13.477537155151367, 55.32768630981445, 28.921358108520508, -51.11111068725586, 26.188880920410156 ]
3.233333
97
0
97
0
[ -35.91731262207031, -27.022518157958984, 76.21868133544922, -43.04404830932617, -51.599510192871094, 34.53973388671875, 2.5621702671051025, -10.137672424316406, 54.75113296508789, 24.245038986206055, -50.91575241088867, 25.80645179748535 ]
[ -36.314571380615234, -27.272727966308594, 78.84788513183594, -42.16867446899414, -51.843711853027344, 21.73560333251953, 2.214156150817871, -12.479201316833496, 55.32768630981445, 27.975934982299805, -51.11111068725586, 26.121902465820312 ]
3.266667
98
0
98
0
[ -36.212623596191406, -27.022518157958984, 76.1275634765625, -43.04404830932617, -51.74603271484375, 39.26042556762695, 2.4868123531341553, -9.303296089172363, 54.84162902832031, 23.382226943969727, -50.91575241088867, 25.80645179748535 ]
[ -36.23747253417969, -27.102006912231445, 78.84788513183594, -42.16867446899414, -51.74603271484375, 24.412002563476562, 2.214156150817871, -11.647254943847656, 55.32768630981445, 26.85861587524414, -51.11111068725586, 25.987943649291992 ]
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_so_follower",
    "total_episodes": 0,
    "total_frames": 0,
    "total_tasks": 0,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {},
    "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": [
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            ]
        },
        "observation.images.left_left": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
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                "width",
                "channels"
            ]
        },
        "observation.images.left_main": {
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            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.images.right_right": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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