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float32
0
42.1
frame_index
int64
0
1.26k
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int64
0
9
index
int64
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11.2k
task_index
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[ 1.8331618309020996, 28.788238525390625, -55.88309097290039, -1.3460848331451416, 39.82845687866211, -0.49309879541397095, 101.4000015258789, -0.7835658192634583, 27.1348819732666, -55.93442153930664, 1.4912768602371216, 39.97162628173828, 2.097870111465454, 101.4000015258789 ]
[ 1.4780000448226929, 28.673999786376953, -56.64500045776367, -0.9200000166893005, 41.119998931884766, -0.8529999852180481, 69.51000213623047, -0.8840000033378601, 27.093000411987305, -56.48699951171875, 1.5720000267028809, 41.104000091552734, 2.121999979019165, 99 ]
3.066667
92
0
92
0
[ 2.052459478378296, 28.8074951171875, -55.44253158569336, -1.6649606227874756, 39.208980560302734, -0.19941310584545135, 101.4000015258789, -0.7246101498603821, 27.161848068237305, -55.56236267089844, 1.465808391571045, 39.41743087768555, 2.0815510749816895, 101.4000015258789 ]
[ 1.7050000429153442, 28.795000076293945, -56.189998626708984, -1.2760000228881836, 40.382999420166016, -0.5799999833106995, 69.51000213623047, -0.8100000023841858, 27.163000106811523, -56.09000015258789, 1.5720000267028809, 40.65399932861328, 2.121999979019165, 99 ]
3.1
93
0
93
0
[ 2.148110866546631, 28.789602279663086, -55.004730224609375, -1.813453197479248, 38.64725875854492, -0.05736023932695389, 101.4000015258789, -0.6562623977661133, 27.192554473876953, -55.20574951171875, 1.4350093603134155, 38.88950729370117, 2.099213123321533, 101.4000015258789 ]
[ 1.8660000562667847, 28.795000076293945, -55.733001708984375, -1.409000039100647, 39.832000732421875, -0.4480000138282776, 69.51000213623047, -0.7590000033378601, 27.235000610351562, -55.79800033569336, 1.5180000066757202, 40.17499923706055, 2.121999979019165, 99 ]
3.133333
94
0
94
0
[ 2.365316867828369, 28.764698028564453, -54.54102325439453, -2.1558825969696045, 38.06747055053711, 0.2898372411727905, 101.4000015258789, -0.5958415269851685, 27.22392463684082, -54.79134750366211, 1.4158555269241333, 38.33598709106445, 2.097337484359741, 101.4000015258789 ]
[ 2.115999937057495, 28.795000076293945, -55.37900161743164, -1.687999963760376, 39.25899887084961, 0, 69.51000213623047, -0.6970000267028809, 27.235000610351562, -55.41999816894531, 1.5180000066757202, 39.433998107910156, 2.121999979019165, 99 ]
3.166667
95
0
95
0
[ 2.456437110900879, 28.740421295166016, -54.01333999633789, -2.314291477203369, 37.45421600341797, 0.4087883532047272, 101.4000015258789, -0.5349296927452087, 27.25130844116211, -54.3929328918457, 1.394195556640625, 37.81784439086914, 2.1085195541381836, 101.4000015258789 ]
[ 2.2320001125335693, 28.795000076293945, -54.834999084472656, -1.9559999704360962, 38.483001708984375, 0, 69.51000213623047, -0.5929999947547913, 27.235000610351562, -55.03200149536133, 1.5180000066757202, 38.720001220703125, 2.121999979019165, 99 ]
3.2
96
0
96
0
[ 2.5943634510040283, 28.7161808013916, -53.56468963623047, -2.5467586517333984, 36.934844970703125, 0.5967991948127747, 101.4000015258789, -0.4750306010246277, 27.284887313842773, -54.038814544677734, 1.3680880069732666, 37.3755989074707, 2.1193742752075195, 101.4000015258789 ]
[ 2.36899995803833, 28.795000076293945, -54.45100021362305, -2.111999988555908, 38.11399841308594, 0.32600000500679016, 69.51000213623047, -0.5929999947547913, 27.288999557495117, -54.71799850463867, 1.4529999494552612, 38.25400161743164, 2.121999979019165, 99 ]
3.233333
97
0
97
0
[ 2.674027442932129, 28.70087432861328, -53.070709228515625, -2.685469150543213, 36.36862564086914, 0.7162038087844849, 101.4000015258789, -0.4304759204387665, 27.30901527404785, -53.66326904296875, 1.3195382356643677, 36.952266693115234, 2.1132750511169434, 101.4000015258789 ]
[ 2.496000051498413, 28.795000076293945, -53.96200180053711, -2.2690000534057617, 37.51499938964844, 0.4269999861717224, 69.51000213623047, -0.5090000033378601, 27.2810001373291, -54.316001892089844, 1.4520000219345093, 37.81999969482422, 2.121999979019165, 99 ]
3.266667
98
0
98
0
[ 2.8340704441070557, 28.694557189941406, -52.58216857910156, -2.9540281295776367, 35.81195068359375, 0.9405463337898254, 101.4000015258789, -0.38387900590896606, 27.33688735961914, -53.29885482788086, 1.2761764526367188, 36.540611267089844, 2.1191177368164062, 101.4000015258789 ]
[ 2.609999895095825, 28.795000076293945, -53.42599868774414, -2.5739998817443848, 36.9109992980957, 0.6990000009536743, 69.51000213623047, -0.49900001287460327, 27.29800033569336, -53.9370002746582, 1.409000039100647, 37.47700119018555, 2.121999979019165, 99 ]
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_piper_follower",
    "total_episodes": 10,
    "total_frames": 11233,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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_joint1.pos",
                "left_joint2.pos",
                "left_joint3.pos",
                "left_joint4.pos",
                "left_joint5.pos",
                "left_joint6.pos",
                "left_gripper.pos",
                "right_joint1.pos",
                "right_joint2.pos",
                "right_joint3.pos",
                "right_joint4.pos",
                "right_joint5.pos",
                "right_joint6.pos",
                "right_gripper.pos"
            ],
            "shape": [
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        },
        "observation.state": {
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            "names": [
                "left_joint1.pos",
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                "left_joint3.pos",
                "left_joint4.pos",
                "left_joint5.pos",
                "left_joint6.pos",
                "left_gripper.pos",
                "right_joint1.pos",
                "right_joint2.pos",
                "right_joint3.pos",
                "right_joint4.pos",
                "right_joint5.pos",
                "right_joint6.pos",
                "right_gripper.pos"
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            "shape": [
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        },
        "observation.images.left_main": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.left_wrist": {
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            "names": [
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            "info": {
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                "video.codec": "av1",
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                "video.is_depth_map": false,
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        "observation.images.right_wrist": {
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            "names": [
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            "info": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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