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float32
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56.7
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[ -94.49664306640625, -77.50213623046875, -6.148282051086426, 94.52538299560547, 3.6874237060546875, 23.227548599243164, 1.7186505794525146, 6.247379302978516, -44.38027572631836, 46.014339447021484, -0.8058608174324036, 25.958702087402344 ]
6.2
93
0
93
0
[ -100.38082885742188, -77.49967956542969, -4.033786773681641, 95.39018249511719, 6.252180099487305, 23.26394271850586, 12.200340270996094, -8.771247863769531, -12.640569686889648, 46.37232208251953, -2.11554217338562, 25.061325073242188 ]
[ -94.63087463378906, -77.58768463134766, -6.148282051086426, 94.52538299560547, 4.126984119415283, 23.227548599243164, 3.6282622814178467, 3.8155136108398438, -40.559749603271484, 46.09869384765625, -1.196581244468689, 25.88495635986328 ]
6.266667
94
0
94
0
[ -103.572509765625, -77.27546691894531, -4.05975341796875, 95.5068130493164, 6.802563667297363, 23.754955291748047, 14.912203788757324, -15.071693420410156, -2.5229225158691406, 45.911739349365234, -2.279625415802002, 24.987369537353516 ]
[ -95.57047271728516, -77.50213623046875, -5.967450141906738, 94.52538299560547, 4.761904716491699, 23.227548599243164, 5.792489051818848, 0.041928719729185104, -34.251441955566406, 46.09869384765625, -1.6361416578292847, 25.66371726989746 ]
6.333333
95
0
95
0
[ -104.7378158569336, -77.10105895996094, -3.875713348388672, 95.11863708496094, 7.240270614624023, 23.889415740966797, 17.61954116821289, -22.215877532958984, 7.35212516784668, 44.84728240966797, -2.2688210010528564, 25.034879684448242 ]
[ -97.71812438964844, -77.3310546875, -5.6057868003845215, 94.52538299560547, 5.641025543212891, 23.227548599243164, 8.975174903869629, -4.654088020324707, -25.455352783203125, 46.09869384765625, -1.9291819334030151, 25.294984817504883 ]
6.4
96
0
96
0
[ -104.4149169921875, -76.27203369140625, -2.898967742919922, 95.08971405029297, 7.693265914916992, 23.874658584594727, 19.50712013244629, -28.6334228515625, 13.348039627075195, 43.83625411987305, -2.1888835430145264, 25.03466796875 ]
[ -98.79194641113281, -77.15996551513672, -5.2441229820251465, 94.52538299560547, 6.227106094360352, 23.29507064819336, 12.285168647766113, -9.769392013549805, -16.481563568115234, 46.014339447021484, -2.124542236328125, 25.147493362426758 ]
6.466667
97
0
97
0
[ -105.2138442993164, -75.4384994506836, -3.295726776123047, 95.66748046875, 7.954872131347656, 24.3328914642334, 21.94269371032715, -33.60091781616211, 16.444562911987305, 43.19268798828125, -2.1419382095336914, 24.785655975341797 ]
[ -99.328857421875, -77.07442474365234, -5.063291072845459, 94.52538299560547, 6.764346599578857, 23.29507064819336, 15.340547561645508, -15.471697807312012, -7.2412261962890625, 45.255165100097656, -2.124542236328125, 25.147493362426758 ]
6.533333
98
0
98
0
[ -104.82978820800781, -75.74501037597656, -3.5451087951660156, 95.17369842529297, 7.966985702514648, 23.703641891479492, 23.93790054321289, -36.79343032836914, 18.536569595336914, 42.735069274902344, -2.0606017112731934, 24.76707649230957 ]
[ -99.328857421875, -76.56116485595703, -4.520795822143555, 94.52538299560547, 7.252747058868408, 23.29507064819336, 17.759389877319336, -22.851152420043945, 3.154153823852539, 44.24293518066406, -2.124542236328125, 25.147493362426758 ]
6.6
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": 1,
    "total_frames": 851,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 15,
    "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": [
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        },
        "observation.images.left": {
            "dtype": "video",
            "shape": [
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            "names": [
                "height",
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            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.center": {
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            "shape": [
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            "names": [
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            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
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        },
        "observation.images.right": {
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            "names": [
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            "info": {
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                "has_audio": false
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        "timestamp": {
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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