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float32
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19
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int64
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569
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3
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95
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[ 5.559566974639893, -47.025264739990234, 48.78923797607422, 61.5019416809082, -6.677018642425537, 25.275531768798828, 15.739730834960938, -88.98094177246094, 100, 22.06255340576172, 4.02701997756958, 1.581027626991272 ]
[ 5.50786828994751, -43.67580795288086, 42.89532470703125, 64.755126953125, -6.341463565826416, 25.545570373535156, 15.573470115661621, -89.12588500976562, 99.28857421875, 20.956039428710938, 4.191308975219727, 1.3324450254440308 ]
3.2
96
0
96
0
[ 5.559566974639893, -47.84025955200195, 50.762332916259766, 60.03452682495117, -6.677018642425537, 25.275531768798828, 15.812432289123535, -88.73239135742188, 99.73057556152344, 22.569738388061523, 3.819173812866211, 1.581027626991272 ]
[ 5.436337471008301, -44.49447250366211, 44.76614761352539, 64.16910552978516, -6.341463565826416, 25.545570373535156, 15.573470115661621, -89.12588500976562, 99.28857421875, 21.297481536865234, 4.191308975219727, 1.3324450254440308 ]
3.233333
97
0
97
0
[ 5.415162563323975, -48.57375717163086, 52.19730758666992, 59.257659912109375, -6.677018642425537, 25.275531768798828, 15.885132789611816, -88.73239135742188, 99.01212310791016, 23.499576568603516, 3.767212152481079, 1.581027626991272 ]
[ 5.293276309967041, -45.39500427246094, 47.08240509033203, 63.24822235107422, -6.392811298370361, 25.481386184692383, 15.50018310546875, -89.12588500976562, 99.28857421875, 21.63892364501953, 4.191308975219727, 1.3324450254440308 ]
3.266667
98
0
98
0
[ 4.909747123718262, -49.0627555847168, 53.36322784423828, 59.68925476074219, -6.677018642425537, 25.202056884765625, 16.030534744262695, -88.40099334716797, 97.21598815917969, 25.021133422851562, 3.611327648162842, 1.581027626991272 ]
[ 5.293276309967041, -46.131805419921875, 49.131404876708984, 61.908748626708984, -6.392811298370361, 25.481386184692383, 15.50018310546875, -89.12588500976562, 99.28857421875, 22.15108871459961, 4.088454723358154, 1.3324450254440308 ]
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": 5,
    "total_frames": 2845,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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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