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float32
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11.8
frame_index
int64
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353
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[ 13.442623138427734, -97.6500244140625, 89.6276626586914, 46.15711212158203, 0.5643919706344604, 2.7901077270507812, -24.99093246459961, -95.677001953125, 83.10482025146484, 53.43606948852539, -1.2595702409744263, 4.6052632331848145 ]
3.1
93
0
93
0
[ 14.192139625549316, -90.21381378173828, 74.8326644897461, 54.926002502441406, 0.984455943107605, 3.087886095046997, -27.3642578125, -88.88434600830078, 69.67250061035156, 63.22135925292969, -3.611971139907837, 4.964028835296631 ]
[ 13.734062194824219, -96.30717468261719, 86.96808624267578, 48.535030364990234, 0.5643919706344604, 2.7901077270507812, -25.571273803710938, -94.86133575439453, 80.3626708984375, 56.51811599731445, -1.8029142618179321, 4.6052632331848145 ]
3.133333
94
0
94
0
[ 14.62882137298584, -86.18421173095703, 71.08433532714844, 56.95560073852539, 0.984455943107605, 3.087886095046997, -28.15534019470215, -84.79771423339844, 66.44235229492188, 64.68561553955078, -4.695562362670898, 4.964028835296631 ]
[ 13.80692195892334, -94.79647827148438, 84.39716339111328, 50.743099212646484, 0.6670086979866028, 2.7901077270507812, -26.151613235473633, -93.71941375732422, 77.88589477539062, 59.01707458496094, -2.3462584018707275, 4.6052632331848145 ]
3.166667
95
0
95
0
[ 15.138282775878906, -83.47039794921875, 68.76394653320312, 58.22410202026367, 0.984455943107605, 3.087886095046997, -28.658756256103516, -82.18226623535156, 64.55809783935547, 65.54694366455078, -5.417956829071045, 4.964028835296631 ]
[ 13.80692195892334, -93.117919921875, 81.82624053955078, 52.441612243652344, 0.7183170914649963, 2.7901077270507812, -26.659412384033203, -92.00652313232422, 75.49756622314453, 60.849647521972656, -2.840207576751709, 4.6052632331848145 ]
3.2
96
0
96
0
[ 15.866084098815918, -79.02960205078125, 64.83712768554688, 60.3382682800293, 0.984455943107605, 3.087886095046997, -29.593671798706055, -77.68696594238281, 60.96904373168945, 66.92506408691406, -6.656346797943115, 4.964028835296631 ]
[ 13.80692195892334, -91.18757629394531, 79.43262481689453, 53.97027587890625, 0.7696254253387451, 2.7901077270507812, -27.167211532592773, -90.29364013671875, 73.19770050048828, 62.18242263793945, -3.383551597595215, 4.6052632331848145 ]
3.233333
97
0
97
0
[ 16.375545501708984, -75.08223724365234, 61.44578170776367, 62.19873046875, 1.0362694263458252, 3.087886095046997, -30.384754180908203, -73.84552764892578, 58.00807571411133, 68.21705627441406, -7.791537761688232, 4.964028835296631 ]
[ 14.46265983581543, -88.50189208984375, 76.32978820800781, 55.83864212036133, 0.7696254253387451, 2.7901077270507812, -28.037721633911133, -87.60195922851562, 70.36709594726562, 63.5984992980957, -4.272659778594971, 4.6052632331848145 ]
3.266667
98
0
98
0
[ 16.593887329101562, -71.21710205078125, 57.78670120239258, 64.4820327758789, 1.2953368425369263, 3.167062520980835, -31.319669723510742, -69.84062194824219, 54.95737838745117, 69.42291259765625, -8.875128746032715, 4.964028835296631 ]
[ 15.045536994934082, -85.39656066894531, 73.2269515991211, 57.79193115234375, 0.7696254253387451, 2.7901077270507812, -28.76314926147461, -84.66558074951172, 67.89031219482422, 64.84797668457031, -5.013583660125732, 4.6052632331848145 ]
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_so101_follower",
    "total_episodes": 1,
    "total_frames": 354,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.camera1": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "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.camera2": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "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
            }
        },
        "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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