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float32
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137
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int64
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4.11k
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int64
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int64
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4.11k
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94
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[ 48.53950881958008, -23.849994659423828, 31.92190933227539, 70.59089660644531, 32.88056945800781, 36.29438018798828, -7.4986724853515625, -95.8896255493164, 53.75104522705078, 62.986324310302734, 0.4675772786140442, 3.3681888580322266 ]
[ 49.36247634887695, -23.33614158630371, 28.494138717651367, 72.48322296142578, 31.4774112701416, 37.0319938659668, -7.347538471221924, -95.11784362792969, 53.272727966308594, 65.38789367675781, 0.39339104294776917, 3.059143543243408 ]
3.166667
95
0
95
0
[ 48.57160186767578, -23.31134033203125, 32.75273513793945, 68.98832702636719, 32.75568389892578, 36.17478942871094, -7.034259796142578, -95.11326599121094, 54.20705032348633, 62.03241729736328, 0.4619064927101135, 3.4374122619628906 ]
[ 49.216758728027344, -22.999156951904297, 29.035167694091797, 72.39933013916016, 31.575092315673828, 36.96392059326172, -8.008816719055176, -95.45454406738281, 53.6363639831543, 64.79113006591797, 0.34093889594078064, 3.059143543243408 ]
3.2
96
0
96
0
[ 48.88505172729492, -23.525306701660156, 34.41667938232422, 67.26456451416016, 32.42429733276367, 36.24808120727539, -6.461254119873047, -95.48289489746094, 53.2445068359375, 63.41985321044922, 0.4117400646209717, 3.332479476928711 ]
[ 49.216758728027344, -23.16765022277832, 30.11722183227539, 72.06375885009766, 31.868131637573242, 36.82777404785156, -7.567964553833008, -95.70706939697266, 53.727272033691406, 64.45012664794922, 0.39339104294776917, 3.059143543243408 ]
3.233333
97
0
97
0
[ 48.50392150878906, -25.377925872802734, 37.3157844543457, 65.62870788574219, 32.218162536621094, 35.84010314941406, -6.788915634155273, -96.73912048339844, 55.06914520263672, 62.786399841308594, 0.45718181133270264, 3.224264144897461 ]
[ 49.143898010253906, -23.083402633666992, 31.650135040283203, 71.2248306274414, 31.96581268310547, 36.691627502441406, -7.7149152755737305, -95.79124450683594, 53.818180084228516, 63.76811599731445, 0.39339104294776917, 3.059143543243408 ]
3.266667
98
0
98
0
[ 48.36484909057617, -24.441967010498047, 37.170230865478516, 64.93472290039062, 32.00469970703125, 35.498111724853516, -7.6469879150390625, -98.09131622314453, 56.03147888183594, 64.58590698242188, 0.44763362407684326, 3.3478164672851562 ]
[ 49.07103729248047, -22.830665588378906, 32.73219299316406, 69.54698181152344, 31.96581268310547, 36.62355422973633, -7.421013832092285, -95.79124450683594, 54, 63.25660705566406, 0.39339104294776917, 3.059143543243408 ]
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": 4113,
    "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.camera1": {
            "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.camera2": {
            "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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