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float32
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55.9
frame_index
int64
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1.68k
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int64
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2.6
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2.7
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2.8
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2.9
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3
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3.1
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94
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[ 46.529388427734375, -21.171184539794922, 26.929887771606445, 65.52928924560547, 25.60579490661621, 19.42861557006836, -11.718450546264648, -98.07472229003906, 58.48579025268555, 52.71630096435547, -1.0026159286499023, 2.8618907928466797 ]
[ 46.958106994628906, -18.281381607055664, 30.568078994750977, 64.84899139404297, 28.351648330688477, 19.40095329284668, -9.625275611877441, -99.41077423095703, 64.45454406738281, 53.45268630981445, -0.9179124236106873, 2.379333734512329 ]
3.166667
95
0
95
0
[ 46.24793243408203, -23.365432739257812, 26.501670837402344, 65.36528015136719, 24.506879806518555, 19.803367614746094, -11.223493576049805, -97.85690307617188, 59.26878356933594, 51.009010314941406, -0.9687411785125732, 2.5796260833740234 ]
[ 46.958106994628906, -19.292333602905273, 29.846708297729492, 65.68791961669922, 28.10744857788086, 19.469026565551758, -10.506979942321777, -99.32659912109375, 63.181819915771484, 53.62318801879883, -0.9179124236106873, 3.127124309539795 ]
3.2
96
0
96
0
[ 45.494598388671875, -23.79235076904297, 25.75654411315918, 64.68020629882812, 22.63576316833496, 19.26110076904297, -12.150825500488281, -97.20062255859375, 59.006290435791016, 49.04569625854492, -1.0060811042785645, 2.7292823791503906 ]
[ 46.88524627685547, -19.882055282592773, 29.576194763183594, 65.68791961669922, 27.960927963256836, 19.673246383666992, -10.72740650177002, -99.15824890136719, 62.09090805053711, 53.62318801879883, -0.9179124236106873, 3.059143543243408 ]
3.233333
97
0
97
0
[ 45.09617614746094, -23.723079681396484, 25.7437744140625, 65.19883728027344, 22.129087448120117, 19.39665412902832, -14.203998565673828, -96.94068908691406, 59.69938278198242, 46.980316162109375, -1.0209181308746338, 3.1518383026123047 ]
[ 46.81238555908203, -19.96630096435547, 28.944995880126953, 65.43624114990234, 27.619047164916992, 19.673246383666992, -11.168258666992188, -98.73737335205078, 61.3636360168457, 53.196929931640625, -0.9179124236106873, 2.9231815338134766 ]
3.266667
98
0
98
0
[ 45.251529693603516, -23.09980010986328, 23.50130844116211, 66.75909423828125, 21.70035743713379, 19.492284774780273, -15.333595275878906, -96.86681365966797, 59.463680267333984, 47.62129592895508, -1.0997302532196045, 4.843976974487305 ]
[ 46.81238555908203, -20.808761596679688, 28.764652252197266, 65.43624114990234, 26.153846740722656, 19.673246383666992, -11.31520938873291, -98.40067291259766, 61.272727966308594, 52.00341033935547, -0.9179124236106873, 2.8552005290985107 ]
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": 1678,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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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