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float32
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3
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3.1
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3.133333
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94
0
[ 30.30789566040039, 52.90840148925781, -53.44371795654297, 83.31010437011719, -0.8034343719482422, 6.089273452758789, -14.32205581665039, 7.4225006103515625, 6.2015533447265625, 75.29141235351562, -5.850859642028809, 7.415522575378418 ]
[ 28.849687576293945, 52.00337600708008, -50.900901794433594, 85.87738037109375, -1.3095861673355103, 6.130520820617676, -13.69112777709961, 5.986509323120117, 8.453237533569336, 75.28565216064453, -6.440678119659424, 13.36828327178955 ]
3.166667
95
0
95
0
[ 30.633922576904297, 52.99818420410156, -54.17885971069336, 83.88771057128906, -0.8718891143798828, 5.948477745056152, -14.20059585571289, 7.6537933349609375, 6.2215118408203125, 75.29762268066406, -5.7557806968688965, 5.899259567260742 ]
[ 29.070194244384766, 52.08772659301758, -51.17116928100586, 85.6236801147461, -1.3095861673355103, 6.130520820617676, -13.837166786193848, 6.745362758636475, 8.363308906555176, 75.28565216064453, -6.388526916503906, 11.992136001586914 ]
3.2
96
0
96
0
[ 30.79952621459961, 52.75337219238281, -54.73548126220703, 83.98576354980469, -0.6440105438232422, 5.840459823608398, -14.5826416015625, 7.930122375488281, 6.361503601074219, 75.61882781982422, -5.717955589294434, 4.429633617401123 ]
[ 29.14369773864746, 52.509490966796875, -51.71171188354492, 85.36997985839844, -1.3095861673355103, 6.130520820617676, -13.983205795288086, 7.3355817794799805, 8.363308906555176, 75.28565216064453, -6.179921627044678, 10.15727424621582 ]
3.233333
97
0
97
0
[ 30.83890151977539, 53.2884521484375, -55.51475143432617, 84.26422119140625, -0.5604095458984375, 5.778591156005859, -14.507171630859375, 8.818824768066406, 6.23223876953125, 75.76353454589844, -5.648812770843506, 3.891566276550293 ]
[ 29.14369773864746, 52.76254653930664, -52.25225067138672, 85.28541564941406, -1.2048193216323853, 6.130520820617676, -14.056224822998047, 7.672850131988525, 8.273381233215332, 75.28565216064453, -6.12777042388916, 8.584534645080566 ]
3.266667
98
0
98
0
[ 30.709247589111328, 53.53765869140625, -55.78803253173828, 84.38751983642578, -0.4488067626953125, 5.841119766235352, -14.634910583496094, 9.160163879394531, 5.016502380371094, 76.18538665771484, -5.5609540939331055, 3.4824864864349365 ]
[ 29.217199325561523, 52.76254653930664, -52.88288116455078, 85.28541564941406, -1.1000523567199707, 6.130520820617676, -14.129243850708008, 7.925800800323486, 8.273381233215332, 75.28565216064453, -5.971316814422607, 7.07732629776001 ]
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_so101_follower",
    "total_episodes": 1,
    "total_frames": 177,
    "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": [
                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": [
                12
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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