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int64
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95
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[ 38.11053466796875, -21.673593521118164, 11.41189956665039, 69.34805297851562, 17.579164505004883, 2.3603649139404297, -49.00299835205078, -27.350330352783203, 21.07144546508789, 68.06884765625, -31.46668815612793, 1.5253353118896484 ]
[ 39.35388946533203, -19.65884780883789, 14.32584285736084, 68.74473571777344, 17.745302200317383, 2.1131560802459717, -50.07331466674805, -28.421934127807617, 27.098539352416992, 67.76399993896484, -33.17523193359375, 1.5593219995498657 ]
3.2
96
0
96
0
[ 38.03157043457031, -20.169574737548828, 11.006952285766602, 69.48648834228516, 18.562822341918945, 2.219575881958008, -48.8560905456543, -26.410696029663086, 20.377525329589844, 69.4439697265625, -31.069948196411133, 1.5602779388427734 ]
[ 39.06020736694336, -19.744136810302734, 14.32584285736084, 68.91322326660156, 17.484342575073242, 2.1131560802459717, -49.26686096191406, -27.752197265625, 26.18613052368164, 67.67849731445312, -32.59552001953125, 1.5593219995498657 ]
3.233333
97
0
97
0
[ 37.77556228637695, -18.357585906982422, 9.869516372680664, 69.73136901855469, 17.945201873779297, 2.3175888061523438, -48.7288703918457, -25.490428924560547, 20.414932250976562, 70.42534637451172, -31.681589126586914, 1.5420036315917969 ]
[ 38.76652145385742, -19.744136810302734, 14.232210159301758, 69.16596221923828, 17.588726043701172, 2.1131560802459717, -49.19355010986328, -27.584762573242188, 25.36496353149414, 68.02052307128906, -32.27931594848633, 1.5593219995498657 ]
3.266667
98
0
98
0
[ 38.006080627441406, -18.167566299438477, 9.336577415466309, 69.96444702148438, 17.965696334838867, 2.536985397338867, -49.43897247314453, -26.21192169189453, 21.049150466918945, 71.89250183105469, -31.544469833374023, 1.5126876831054688 ]
[ 38.25257110595703, -19.57356071472168, 14.044943809509277, 69.25021362304688, 17.797494888305664, 2.1131560802459717, -49.04692077636719, -26.74759292602539, 24.63503646850586, 68.53356170654297, -31.857707977294922, 1.5593219995498657 ]
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": "v2.1",
    "robot_type": "bi_so101_follower",
    "total_episodes": 2,
    "total_frames": 4987,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "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"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "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"
            ]
        },
        "observation.images.left": {
            "dtype": "video",
            "shape": [
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            "names": [
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            "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.top": {
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            "names": [
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            "info": {
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                "video.width": 640,
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        },
        "observation.images.right": {
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                "has_audio": false
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        },
        "timestamp": {
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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