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int64
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[ 18.0341796875, -21.11260986328125, 64.85627746582031, -55.41569519042969, -43.05391311645508, 3.5102882385253906, -20.82657241821289, -18.424169540405273, 98.32488250732422, -65.77205657958984, 47.00923538208008, 97.81432342529297 ]
[ 19.588415145874023, -10.315789222717285, 61.386138916015625, -53.7747802734375, -43.63858413696289, 3.347578287124634, -19.138057708740234, -19.38435935974121, 98.38129425048828, -58.92856979370117, 46.42246627807617, 97.92115020751953 ]
3.233333
97
0
97
0
[ 17.82259750366211, -21.865215301513672, 65.84618377685547, -55.35026168823242, -43.053550720214844, 3.5204334259033203, -20.978836059570312, -18.225467681884766, 98.2930908203125, -66.56591796875, 47.0517578125, 97.78285217285156 ]
[ 19.1310977935791, -12.168420791625977, 63.276329040527344, -53.7747802734375, -43.63858413696289, 3.347578287124634, -19.57633399963379, -18.885190963745117, 98.38129425048828, -60.45918273925781, 46.42246627807617, 97.92115020751953 ]
3.266667
98
0
98
0
[ 17.560304641723633, -22.396495819091797, 66.69134521484375, -55.39110565185547, -43.07976531982422, 3.520078659057617, -21.225677490234375, -18.158740997314453, 98.25737762451172, -67.11103820800781, 47.08061599731445, 97.7275619506836 ]
[ 18.82621955871582, -13.431578636169434, 64.44644165039062, -53.7747802734375, -43.63858413696289, 3.276353359222412, -19.94156265258789, -18.552412033081055, 98.38129425048828, -61.479591369628906, 46.42246627807617, 97.92115020751953 ]
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_so100_follower",
    "total_episodes": 2,
    "total_frames": 1822,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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_global": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left_arm": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_arm": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "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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