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161
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[ -8.619430541992188, -99.05416870117188, 91.13475036621094, 48.14814758300781, 0.6593406796455383, 2.2339026927948, -5.301914691925049, -98.0582504272461, 88.17106628417969, 49.59280014038086, 0.8547008633613586, 1.684636116027832 ]
2.8
84
0
84
0
[ -4.625, -94, 48.5, 63.25, 3.171875, 3.0625, -7.375, -95, 49.5, 62.5, 0.875, 0.9375 ]
[ -8.911614418029785, -99.05416870117188, 87.5, 45.61878967285156, 1.1477411985397339, 2.3653087615966797, -5.522827625274658, -97.6361312866211, 83.98544311523438, 47.87826919555664, 1.0012210607528687, 1.684636116027832 ]
2.833333
85
0
85
0
[ -3, -88, 37.5, 74.5, 3.21875, 3.0625, -9.375, -92, 40.75, 73.5, 0.09375, 1.0625 ]
[ -7.888969898223877, -98.79621887207031, 81.82624053955078, 44.35411071777344, 1.5873016119003296, 2.4967148303985596, -5.964653968811035, -97.2984390258789, 78.25296020507812, 47.535362243652344, 1.196581244468689, 1.684636116027832 ]
2.866667
86
0
86
0
[ -2.5, -85.5, 32.5, 79, 3.1875, 3, -10.5, -90, 36, 78.5, -0.28125, 1 ]
[ -6.501095771789551, -98.19432830810547, 75.17730712890625, 44.896114349365234, 1.88034188747406, 2.562417984008789, -5.964653968811035, -96.8763198852539, 71.97452545166016, 48.73553466796875, 1.0500611066818237, 1.684636116027832 ]
2.9
87
0
87
0
[ -2.125, -82, 27.5, 82, 3.171875, 2.9375, -11.75, -88, 31.75, 82, -0.53125, 1 ]
[ -5.405405521392822, -96.81857299804688, 67.641845703125, 47.51580810546875, 2.2710623741149902, 2.562417984008789, -7.290132522583008, -95.77880859375, 64.69517517089844, 51.993141174316406, 0.5616605877876282, 1.684636116027832 ]
2.933333
88
0
88
0
[ -1.125, -74, 16.25, 88.5, 2.546875, 2.75, -14.25, -82, 22.5, 90, -1.09375, 0.9375 ]
[ -4.528852939605713, -94.06707000732422, 59.39716339111328, 52.21318817138672, 2.4664225578308105, 2.562417984008789, -8.83652400970459, -94.17475891113281, 57.41583251953125, 57.22246170043945, 0.3174603283405304, 1.684636116027832 ]
2.966667
89
0
89
0
[ 0, -68.5, 9.5, 91.5, 2.15625, 2.6875, -15.6875, -78, 17.25, 93, -1.34375, 0.875 ]
[ -3.6523008346557617, -90.54170227050781, 51.0638313293457, 58.988258361816406, 2.612942695617676, 2.562417984008789, -9.867451667785645, -92.2330093383789, 50.22747802734375, 63.73767852783203, 0.07326007634401321, 1.684636116027832 ]
3
90
0
90
0
[ 1.75, -61.75, 1.59375, 94, 1.6875, 2.5625, -18, -73, 10.875, 96, -1.53125, 0.8125 ]
[ -3.1409788131713867, -87.0163345336914, 42.90780258178711, 66.39566040039062, 2.612942695617676, 2.562417984008789, -10.824742317199707, -90.20684051513672, 43.49408721923828, 70.5958023071289, -0.41514042019844055, 1.684636116027832 ]
3.033333
91
0
91
0
[ 4.375, -53.5, -8, 97, 1.03125, 2.375, -21.25, -67.5, 4.34375, 98.5, -1.6875, 0.8125 ]
[ -2.1183345317840576, -82.37317657470703, 34.39716339111328, 73.62240600585938, 2.4664225578308105, 2.562417984008789, -13.033873558044434, -87.1675796508789, 36.669700622558594, 77.282470703125, -0.8547008633613586, 1.684636116027832 ]
3.066667
92
0
92
0
[ 3.625, -56, -5.34375, 96.5, 1.234375, 2.375, -20.25, -68.5, 5.625, 98, -1.71875, 0.75 ]
[ -0.7304601669311523, -77.38607025146484, 26.241134643554688, 80.48780822753906, 2.2710623741149902, 2.562417984008789, -14.506627082824707, -83.53736114501953, 29.845314025878906, 83.45478057861328, -0.9035409092903137, 1.684636116027832 ]
3.1
93
0
93
0
[ 7.625, -46.75, -15.8125, 98.5, 0.388671875, 1.9375, -24.5, -61.5, -1.3125, 100, -1.84375, 0.75 ]
[ 0.6574141979217529, -71.88306427001953, 17.9964542388916, 86.26919555664062, 1.9291819334030151, 2.562417984008789, -16.568483352661133, -79.31616973876953, 23.202911376953125, 89.0270004272461, -1.196581244468689, 1.684636116027832 ]
3.133333
94
0
94
0
[ 8.875, -45.25, -17.375, 99, 0.1875, 1.875, -25.5, -59.75, -2.5625, 100, -1.90625, 0.75 ]
[ 1.9722424745559692, -66.2940673828125, 10.195035934448242, 90.7859115600586, 1.6361416578292847, 2.562417984008789, -18.924888610839844, -75.43267059326172, 17.01546859741211, 92.71324157714844, -1.2942613363265991, 1.684636116027832 ]
3.166667
95
0
95
0
[ 11.875, -41, -21.75, 99.5, -0.3203125, 1.75, -28.125, -56.5, -5.125, 100, -1.96875, 0.8125 ]
[ 3.214024782180786, -61.04901123046875, 3.457446813583374, 93.85726928710938, 1.4407814741134644, 2.431011915206909, -19.882179260253906, -71.80245208740234, 11.919927597045898, 95.28504180908203, -1.4896215200424194, 1.684636116027832 ]
3.2
96
0
96
0
[ 15.3125, -37.5, -24.25, 99.5, -0.7265625, 1.75, -30.625, -54.25, -6.1875, 99.5, -2.046875, 0.875 ]
[ 4.967129230499268, -56.147891998291016, -3.102836847305298, 95.9349594116211, 0.9523809552192688, 2.2996058464050293, -22.53313636779785, -68.08779907226562, 7.188353061676025, 97.08529663085938, -1.5873016119003296, 1.684636116027832 ]
3.233333
97
0
97
0
[ 17.875, -36, -25, 99, -1.015625, 1.6875, -32, -53, -6.125, 98.5, -2.15625, 0.9375 ]
[ 7.158509731292725, -51.7626838684082, -8.59929084777832, 97.28997039794922, 0.5128205418586731, 2.2339026927948, -24.153165817260742, -64.62642669677734, 3.366697072982788, 98.02828979492188, -1.5873016119003296, 1.684636116027832 ]
3.266667
98
0
98
0
[ 17.5, -37, -24, 99, -0.984375, 1.6875, -31.5, -53.25, -5.4375, 99, -2.296875, 0.9375 ]
[ 9.715120315551758, -47.377471923828125, -13.741134643554688, 97.65130615234375, 0.12210012227296829, 2.2339026927948, -26.36229705810547, -61.41831970214844, 0.27297544479370117, 98.3711929321289, -1.88034188747406, 1.684636116027832 ]
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": 4817,
    "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": {
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            "names": [
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                "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"
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        "observation.images.left_top": {
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        "observation.images.left_left": {
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            "info": {
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        "observation.images.right_right": {
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        "timestamp": {
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        "frame_index": {
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        "task_index": {
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    }
}

Citation

BibTeX:

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