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float32
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18.1
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int64
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[ -9.267189979553223, 62.891700744628906, -88.966552734375, 56.45855712890625, 0.8678455352783203, 0.9434528350830078, -3.525909900665283, -10.140738487243652, 13.799028396606445, 48.00068664550781, -4.624138355255127, 23.21648406982422 ]
[ -6.011450290679932, 68.5689926147461, -86.7627182006836, 57.593605041503906, 0.6593406796455383, 1.6265451908111572, -3.765690326690674, -7.337883949279785, 15.16778564453125, 47.56779861450195, -5.006104946136475, 22.78481101989746 ]
3.133333
94
0
94
0
[ -10.115493774414062, 61.39495849609375, -87.55661010742188, 55.97248840332031, 0.862271785736084, 0.9037845134735107, -3.5360665321350098, -9.555658340454102, 12.992056846618652, 48.07377243041992, -4.778697490692139, 23.017112731933594 ]
[ -8.587786674499512, 67.461669921875, -86.7627182006836, 56.668067932128906, 0.7570207715034485, 1.6265451908111572, -3.858670473098755, -7.337883949279785, 15.16778564453125, 47.56779861450195, -5.006104946136475, 22.78481101989746 ]
3.166667
95
0
95
0
[ -11.232300758361816, 60.927886962890625, -87.72630310058594, 56.6003303527832, 1.1390800476074219, 1.1130342483520508, -3.6651358604431152, -9.714351654052734, 12.885924339294434, 48.31353759765625, -4.627005100250244, 23.337251663208008 ]
[ -9.064885139465332, 67.29131317138672, -86.7627182006836, 56.668067932128906, 0.8058608174324036, 1.6265451908111572, -3.858670473098755, -7.337883949279785, 15.16778564453125, 47.56779861450195, -5.006104946136475, 22.78481101989746 ]
3.2
96
0
96
0
[ -12.023736953735352, 60.54981994628906, -86.67515563964844, 54.76515579223633, 1.0195248126983643, 0.44908809661865234, -3.6707820892333984, -8.907129287719727, 11.954143524169922, 48.323753356933594, -4.92747163772583, 23.055435180664062 ]
[ -9.16030502319336, 66.95059967041016, -86.5826187133789, 56.58393096923828, 0.8058608174324036, 1.6265451908111572, -3.858670473098755, -7.337883949279785, 15.16778564453125, 47.91218185424805, -5.006104946136475, 22.918054580688477 ]
3.233333
97
0
97
0
[ -11.144142150878906, 60.91328430175781, -88.12339782714844, 57.12904357910156, 1.1114730834960938, 0.9817204475402832, -3.7320427894592285, -9.963875770568848, 13.168392181396484, 48.24172592163086, -4.700615882873535, 23.501728057861328 ]
[ -10.400763511657715, 66.3543472290039, -86.5826187133789, 56.58393096923828, 0.9035409092903137, 1.6265451908111572, -3.858670473098755, -7.337883949279785, 14.988814353942871, 47.91218185424805, -5.006104946136475, 23.051300048828125 ]
3.266667
98
0
98
0
[ -11.710896492004395, 60.617919921875, -87.59634399414062, 56.80775833129883, 1.1806411743164062, 1.0522453784942627, -3.825162410736084, -9.084522247314453, 11.557574272155762, 48.29075622558594, -4.55289363861084, 23.466175079345703 ]
[ -11.545801162719727, 65.75809478759766, -86.22241973876953, 55.8266716003418, 0.9523809552192688, 1.4964215755462646, -3.858670473098755, -7.337883949279785, 14.988814353942871, 47.91218185424805, -4.9572649002075195, 23.051300048828125 ]
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": 0,
    "total_frames": 0,
    "total_tasks": 0,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {},
    "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.left_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.images.left_front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.images.left_up": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.images.right_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            "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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