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float32
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5.77
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int64
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173
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[ -10.681318283081055, 9.538461685180664, -14.197802543640137, -42.989009857177734, 1.7142857313156128, 49.92826461791992, 11.824175834655762, 41.14285659790039, 20.395605087280273, -32.43955993652344, 3.1208791732788086, 27.54145622253418 ]
2.8
84
0
84
0
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2.833333
85
0
85
0
[ -0.1497582197189331, 0.03799350559711456, 0.07876917719841003, -0.13431885838508606, -1.1033672094345093, -0.1970609575510025, 50.464805603027344, -0.21504205465316772, -0.030211539939045906, 0.071914441883564, -0.038454413414001465, -0.8358264565467834, 0.10097557306289673, 5.652759075164...
[ -11.032966613769531, 9.802197456359863, -14.197802543640137, -42.989009857177734, 1.6263736486434937, 49.92826461791992, 11.20879077911377, 41.230770111083984, 20.395605087280273, -32.43955993652344, 3.2087912559509277, 16.14996337890625 ]
2.866667
86
0
86
0
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2.9
87
0
87
0
[ -0.14948707818984985, 0.03843279555439949, 0.07834227383136749, -0.13464859127998352, -1.1033504009246826, -0.19895684719085693, 50.464805603027344, -0.2133660763502121, -0.0272965207695961, 0.07791545987129211, -0.05585538595914841, -0.8208631277084351, 0.08699024468660355, 5.652759075164...
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2.933333
88
0
88
0
[ -0.14942792057991028, 0.03868052735924721, 0.07834227383136749, -0.1354985535144806, -1.1032755374908447, -0.2003297507762909, 50.464805603027344, -0.2106143981218338, -0.025970639660954475, 0.08357270061969757, -0.072815902531147, -0.8077235221862793, 0.0790204256772995, 5.518169403076172...
[ -11.384614944458008, 9.802197456359863, -14.637362480163574, -42.989009857177734, 1.6263736486434937, 49.92826461791992, 9.978021621704102, 41.14285659790039, 20.483516693115234, -32.43955993652344, 4.263736248016357, 9.30064868927002 ]
2.966667
89
0
89
0
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3
90
0
90
0
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3.033333
91
0
91
0
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3.066667
92
0
92
0
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3.1
93
0
93
0
[ -0.14876210689544678, 0.04009721055626869, 0.07779086381196976, -0.1409236490726471, -1.1058741807937622, -0.20846809446811676, 50.59761047363281, -0.1884889006614685, -0.02392006292939186, 0.12287934869527817, -0.1113174706697464, -0.6784927248954773, 0.08740127831697464, 1.48048448562622...
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3.133333
94
0
94
0
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3.166667
95
0
95
0
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3.2
96
0
96
0
[ -0.1485021859407425, 0.04110494256019592, 0.07658448815345764, -0.14520001411437988, -1.1008299589157104, -0.2149580717086792, 50.464805603027344, -0.17628778517246246, -0.028216365724802017, 0.14230364561080933, -0.1105303093791008, -0.6289803981781006, 0.12230510264635086, 1.480484485626...
[ -12.087912559509277, 9.802197456359863, -15.340659141540527, -42.46154022216797, 1.3626374006271362, 49.92826461791992, 8.571428298950195, 22.85714340209961, 8.967033386230469, -32.96703338623047, 7.07692289352417, 9.228550910949707 ]
3.233333
97
0
97
0
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[ -12.263736724853516, 9.802197456359863, -15.604395866394043, -42.28571319580078, 1.3626374006271362, 49.92826461791992, 8.747252464294434, 19.428571701049805, 8.967033386230469, -33.93406677246094, 7.07692289352417, 9.228550910949707 ]
3.266667
98
0
98
0
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[ -12.351648330688477, 9.89011001586914, -15.780220031738281, -41.846153259277344, 1.3626374006271362, 49.92826461791992, 9.362637519836426, 16.52747344970703, 8.967033386230469, -35.16483688354492, 7.07692289352417, 9.228550910949707 ]
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_koch_follower",
    "total_episodes": 1,
    "total_frames": 174,
    "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_ee.x",
                "left_ee.y",
                "left_ee.z",
                "left_ee.wx",
                "left_ee.wy",
                "left_ee.wz",
                "left_ee.gripper_pos",
                "right_ee.x",
                "right_ee.y",
                "right_ee.z",
                "right_ee.wx",
                "right_ee.wy",
                "right_ee.wz",
                "right_ee.gripper_pos"
            ],
            "shape": [
                14
            ]
        },
        "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": [
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        },
        "observation.images.top": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.left_wrist": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.codec": "av1",
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                "video.channels": 3,
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        },
        "observation.images.right_wrist": {
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            "names": [
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            "info": {
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                "has_audio": false
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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