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float32
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246
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int64
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7.39k
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86
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[ 6.125, 52.75, -60.5, 96, -15.875, 37, -10.875, -11, 9, 79.5, -8.25, 1.8125 ]
[ 5.551497459411621, 52.622528076171875, -60.90425491333008, 96.47696685791016, -15.409035682678223, 38.69908142089844, -10.382916450500488, -10.426340103149414, 11.737943649291992, 80.36862182617188, -8.034188270568848, 2.223719596862793 ]
2.9
87
0
87
0
[ 6.125, 53.25, -60.5, 96, -15.875, 36, -11.125, -11, 8.4375, 79, -8.25, 1.75 ]
[ 5.551497459411621, 52.8804817199707, -60.63829803466797, 96.47696685791016, -15.55555534362793, 38.37056350708008, -10.30927848815918, -10.426340103149414, 11.464967727661133, 80.28289794921875, -8.034188270568848, 2.156334161758423 ]
2.933333
88
0
88
0
[ 5.875, 54.25, -60.75, 95.5, -15.875, 35.25, -11.3125, -10.75, 7.96875, 79, -8.25, 1.75 ]
[ 5.551497459411621, 53.31040573120117, -60.460994720458984, 96.47696685791016, -15.604395866394043, 37.97634506225586, -10.235640525817871, -10.426340103149414, 11.373976707458496, 79.93999481201172, -8.034188270568848, 2.0889487266540527 ]
2.966667
89
0
89
0
[ 6.5625, 49.75, -59.75, 94, -16.25, 38, -10, -10.375, 10.1875, 82, -8.75, 1 ]
[ 5.551497459411621, 53.912296295166016, -60.37234115600586, 96.38662719726562, -15.604395866394043, 37.31931686401367, -10.45655345916748, -10.426340103149414, 11.010008811950684, 79.59708404541016, -8.034188270568848, 2.0889487266540527 ]
3
90
0
90
0
[ 6.625, 50.25, -60, 94, -16.125, 37.5, -9.75, -10.75, 9.875, 82.5, -9.25, 1 ]
[ 5.551497459411621, 55.54600143432617, -60.37234115600586, 95.9349594116211, -15.604395866394043, 35.54533386230469, -10.824742317199707, -10.426340103149414, 10.282074928283691, 79.33990478515625, -8.034188270568848, 2.0889487266540527 ]
3.033333
91
0
91
0
[ 6.625, 51.25, -60.25, 93.5, -16.125, 36.5, -9.625, -10.625, 9.625, 83, -9.25, 1.0625 ]
[ 5.551497459411621, 55.54600143432617, -60.37234115600586, 95.8446273803711, -15.65323543548584, 35.54533386230469, -11.119293212890625, -10.426340103149414, 10.282074928283691, 79.33990478515625, -8.083027839660645, 2.0215632915496826 ]
3.066667
92
0
92
0
[ 6.75, 52.75, -60, 93, -16.125, 35, -9.375, -10.625, 9, 83, -9.5, 1.125 ]
[ 5.843681335449219, 55.460018157958984, -60.017730712890625, 95.21228790283203, -15.799756050109863, 35.87385177612305, -10.824742317199707, -10.34191608428955, 10.464057922363281, 79.85426330566406, -8.571428298950195, 1.8867924213409424 ]
3.1
93
0
93
0
[ 6.875, 53.75, -60, 92.5, -16.125, 33.5, -9.125, -10.375, 8.5625, 83.5, -9.5, 1.1875 ]
[ 5.989773750305176, 55.030094146728516, -59.84042739868164, 95.0316162109375, -15.897436141967773, 36.268070220947266, -10.30927848815918, -10.257493019104004, 10.555049896240234, 81.31161499023438, -8.766788482666016, 1.8194069862365723 ]
3.133333
94
0
94
0
[ 7.125, 54.25, -60, 92, -16.125, 31.375, -9.125, -10.375, 8.125, 83.5, -9.5, 1.1875 ]
[ 6.062819480895996, 54.94411087036133, -59.751773834228516, 94.39927673339844, -15.897436141967773, 36.00525665283203, -9.720176696777344, -10.257493019104004, 10.555049896240234, 82.25460815429688, -9.01098918914795, 1.8194069862365723 ]
3.166667
95
0
95
0
[ 7.4375, 55.75, -60.25, 91, -16, 29.25, -9.125, -10.25, 7.5625, 83.5, -9.25, 1.375 ]
[ 6.281957626342773, 55.1160774230957, -59.751773834228516, 93.67660522460938, -15.897436141967773, 34.95400619506836, -9.499263763427734, -10.17306900024414, 10.464057922363281, 82.25460815429688, -9.157508850097656, 1.8194069862365723 ]
3.2
96
0
96
0
[ 7.5, 56.25, -60.75, 90.5, -16, 27, -9.125, -10.25, 7.1875, 84, -9.25, 1.25 ]
[ 6.501095771789551, 55.460018157958984, -59.751773834228516, 93.04426574707031, -15.897436141967773, 33.90275955200195, -9.646538734436035, -10.088644981384277, 10.464057922363281, 82.51178741455078, -9.255188941955566, 1.8194069862365723 ]
3.233333
97
0
97
0
[ 7.5625, 57.75, -61, 89, -16.25, 24.25, -9.125, -9.75, 6.5625, 84, -9, 1.4375 ]
[ 6.64718770980835, 55.88993835449219, -59.751773834228516, 92.50225830078125, -15.995116233825684, 32.3915901184082, -9.720176696777344, -10.088644981384277, 10.282074928283691, 82.85469055175781, -9.255188941955566, 1.8194069862365723 ]
3.266667
98
0
98
0
[ 7.625, 58.75, -61.25, 88, -16, 21, -9.375, -9.375, 5.875, 83.5, -9.25, 1.625 ]
[ 6.866325855255127, 56.4918327331543, -59.84042739868164, 91.96025085449219, -15.897436141967773, 30.551904678344727, -9.720176696777344, -10.088644981384277, 9.918107032775879, 83.19760131835938, -9.255188941955566, 1.8194069862365723 ]
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": 1,
    "total_frames": 7393,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "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": [
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        },
        "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_top": {
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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",
                "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_left": {
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            "shape": [
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            "names": [
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            "info": {
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        "observation.images.right_right": {
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            "names": [
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            "info": {
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        "timestamp": {
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            "names": null
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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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