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int64
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[ 19.868995666503906, -32.64802551269531, 27.88933563232422, 85.20084381103516, 12.797927856445312, 13.064132690429688, -35.203163146972656, -32.73395919799805, 25.97577476501465, 85.96038055419922, -16.04747200012207, 18.99280548095703 ]
[ 15.482695579528809, -46.03440856933594, 37.411346435546875, 75.96602630615234, 8.722421646118164, 3.994927167892456, -29.416032791137695, -44.045677185058594, 30.473241806030273, 85.08954620361328, -12.620400428771973, 8.289473533630371 ]
3.1
93
0
93
0
[ 21.834060668945312, -30.016447067260742, 27.978580474853516, 86.97674560546875, 13.471502304077148, 17.893903732299805, -36.929161071777344, -30.527175903320312, 26.693584442138672, 85.6158447265625, -16.615066528320312, 24.532373428344727 ]
[ 16.64845085144043, -41.83802032470703, 34.485816955566406, 78.7685775756836, 10.107748031616211, 5.833861827850342, -30.93942642211914, -40.1305046081543, 29.500221252441406, 85.42273712158203, -13.855273246765137, 10.460526466369629 ]
3.133333
94
0
94
0
[ 23.362445831298828, -27.8782901763916, 28.157072067260742, 88.24524688720703, 14.09326457977295, 22.8028507232666, -38.07982635498047, -29.055986404418945, 27.32166862487793, 85.18518829345703, -17.389060974121094, 30.071943283081055 ]
[ 17.887067794799805, -38.229122161865234, 32.80141830444336, 81.40127563476562, 11.133914947509766, 8.116677284240723, -32.75299072265625, -36.867862701416016, 29.057939529418945, 85.42273712158203, -14.694986343383789, 13.1578950881958 ]
3.166667
95
0
95
0
[ 24.38136863708496, -26.06907844543457, 28.157072067260742, 88.75263977050781, 14.870466232299805, 27.7117977142334, -38.87091064453125, -27.748262405395508, 27.949752807617188, 84.06546020507812, -18.36945343017578, 35.107913970947266 ]
[ 19.344263076782227, -34.70415496826172, 32.00354766845703, 83.69426727294922, 12.057465553283691, 11.22384262084961, -34.63909912109375, -33.76835250854492, 29.057939529418945, 85.17284393310547, -15.337120056152344, 16.776315689086914 ]
3.2
96
0
96
0
[ 25.03639030456543, -24.50657844543457, 28.4248104095459, 88.66807556152344, 15.699481964111328, 32.22486114501953, -39.374324798583984, -26.604005813598633, 28.577836990356445, 82.85960388183594, -19.298246383666992, 39.78417205810547 ]
[ 21.0928955078125, -31.68275260925293, 31.560283660888672, 85.56262969970703, 12.878398895263672, 14.838300704956055, -36.452667236328125, -31.4845027923584, 29.057939529418945, 85.33943939208984, -16.226228713989258, 20.657894134521484 ]
3.233333
97
0
97
0
[ 25.254730224609375, -23.273025512695312, 28.603302001953125, 88.66807556152344, 16.26943016052246, 36.342041015625, -39.805824279785156, -25.786678314208984, 29.026470184326172, 81.39534759521484, -20.07223892211914, 43.812950134277344 ]
[ 22.62295150756836, -29.164918899536133, 31.47163200378418, 86.66666412353516, 13.596715927124023, 18.389347076416016, -37.46826171875, -29.853181838989258, 29.057939529418945, 84.9229507446289, -17.115337371826172, 24.539474487304688 ]
3.266667
98
0
98
0
[ 25.10917091369629, -21.957237243652344, 28.692548751831055, 88.66807556152344, 16.580310821533203, 42.9136962890625, -39.877742767333984, -24.397220611572266, 30.19291114807129, 78.98363494873047, -21.31062889099121, 48.84892272949219 ]
[ 23.570127487182617, -26.898866653442383, 31.382978439331055, 87.09129333496094, 14.52026653289795, 22.19403839111328, -38.193687438964844, -28.303424835205078, 29.057939529418945, 84.0899658203125, -18.103235244750977, 28.355262756347656 ]
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": 2,
    "total_frames": 682,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500000,
    "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.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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