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float32
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31.2
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int64
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[ -19.60927963256836, 24.24908447265625, -24.004884719848633, 28.69352912902832, -6.666666507720947, 73.57142639160156, 25.763126373291016, 30.5006103515625, 27.765567779541016, 25.958486557006836, 15.897436141967773, 86.85713958740234 ]
3.166667
95
0
95
0
[ -19.755800247192383, 28.742368698120117, 24.346763610839844, 31.428571701049805, -6.617826461791992, 86.57142639160156, 24.542123794555664, 41.78266143798828, 33.72405242919922, 25.567766189575195, 15.84859561920166, 86.71428680419922 ]
[ -19.41391944885254, 24.542123794555664, -24.786325454711914, 28.69352912902832, -6.666666507720947, 73.57142639160156, 25.616605758666992, 34.5054931640625, 30.5006103515625, 26.007326126098633, 15.897436141967773, 86.85713958740234 ]
3.2
96
0
96
0
[ -20.097681045532227, 28.742368698120117, 23.809524536132812, 31.91697120666504, -6.617826461791992, 86.57142639160156, 24.102563858032227, 43.882781982421875, 33.479854583740234, 25.909645080566406, 15.84859561920166, 86.71428680419922 ]
[ -19.267398834228516, 25.323564529418945, -25.27472496032715, 28.69352912902832, -6.666666507720947, 73.57142639160156, 25.323564529418945, 38.412696838378906, 32.844932556152344, 25.958486557006836, 15.897436141967773, 86.71428680419922 ]
3.233333
97
0
97
0
[ -20.19536018371582, 28.058609008789062, 23.22344398498535, 32.991451263427734, -6.617826461791992, 86.57142639160156, 23.076923370361328, 45.006103515625, 31.72161102294922, 25.86080551147461, 15.84859561920166, 86.71428680419922 ]
[ -19.462759017944336, 26.007326126098633, -25.27472496032715, 28.69352912902832, -6.666666507720947, 73.57142639160156, 25.079364776611328, 41.587303161621094, 33.96825408935547, 25.763126373291016, 15.897436141967773, 86.85713958740234 ]
3.266667
98
0
98
0
[ -19.80463981628418, 27.765567779541016, 21.074481964111328, 33.57753372192383, -6.617826461791992, 86.42857360839844, 21.26984214782715, 44.66422653198242, 27.179487228393555, 25.811965942382812, 15.84859561920166, 86.71428680419922 ]
[ -19.80463981628418, 26.691085815429688, -25.27472496032715, 28.840049743652344, -6.666666507720947, 73.57142639160156, 24.737483978271484, 43.0525016784668, 34.06593322753906, 25.421245574951172, 15.897436141967773, 86.71428680419922 ]
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_koch_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_left_gripper": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.images.right_right_gripper": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.images.right_front": {
            "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": {
            "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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