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float32
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9.23
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int64
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277
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[ -0.11430389434099197, 0.057511940598487854, 0.08788997679948807, -0.23863065242767334, -1.0201505422592163, -0.3787190318107605, 50.59761047363281, -0.19075456261634827, 0.05414585396647453, 0.09957051277160645, -0.13234874606132507, -0.7486231923103333, -0.24504032731056213, 1.34589505195...
[ -19.560440063476562, -3.0329670906066895, -28.52747344970703, -39.64834976196289, 3.912087917327881, 49.92826461791992, -14.637362480163574, 30.681318283081055, 8.967033386230469, -33.05494689941406, 2.3296704292297363, 8.579668045043945 ]
2.8
84
0
84
0
[ -0.11292606592178345, 0.05905257910490036, 0.08708395063877106, -0.23815880715847015, -1.0267225503921509, -0.3866848051548004, 50.464805603027344, -0.1902666836977005, 0.05270586162805557, 0.10121161490678787, -0.12935052812099457, -0.7428173422813416, -0.2392517626285553, 1.4804844856262...
[ -20.439559936523438, -3.384615421295166, -29.406593322753906, -39.64834976196289, 3.5604395866394043, 49.92826461791992, -14.549450874328613, 30.065933227539062, 8.967033386230469, -33.05494689941406, 2.3296704292297363, 8.579668045043945 ]
2.833333
85
0
85
0
[ -0.11143523454666138, 0.06047111749649048, 0.08583198487758636, -0.2472718209028244, -1.0345951318740845, -0.398586630821228, 50.19920349121094, -0.18948790431022644, 0.051208775490522385, 0.10378628969192505, -0.12622304260730743, -0.7354749441146851, -0.23346258699893951, 1.3458950519561...
[ -21.406593322753906, -3.8241758346557617, -30.461538314819336, -39.64834976196289, 3.2087912559509277, 49.92826461791992, -14.285714149475098, 29.36263656616211, 8.967033386230469, -33.05494689941406, 2.3296704292297363, 8.579668045043945 ]
2.866667
86
0
86
0
[ -0.10960736125707626, 0.062350913882255554, 0.08402048051357269, -0.2562103271484375, -1.042553186416626, -0.41295671463012695, 50.19920349121094, -0.1887025684118271, 0.04907435551285744, 0.1052505150437355, -0.12249573320150375, -0.7328585386276245, -0.2247055321931839, 1.345895051956176...
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2.9
87
0
87
0
[ -0.10856840759515762, 0.06303797662258148, 0.08168543875217438, -0.2626665532588959, -1.0460834503173828, -0.42035579681396484, 49.933597564697266, -0.1874750703573227, 0.04686947166919708, 0.1070876270532608, -0.11879604309797287, -0.7302295565605164, -0.21594078838825226, 1.3458950519561...
[ -23.340660095214844, -4.439560413360596, -31.16483497619629, -39.64834976196289, 2.153846263885498, 49.92826461791992, -13.670330047607422, 27.604394912719727, 8.967033386230469, -33.05494689941406, 2.3296704292297363, 8.579668045043945 ]
2.933333
88
0
88
0
[ -0.10661985725164413, 0.06421384960412979, 0.07945545017719269, -0.2741498351097107, -1.0502047538757324, -0.4339753985404968, 49.66799545288086, -0.18651896715164185, 0.04377257451415062, 0.10796638578176498, -0.11226356774568558, -0.730999231338501, -0.2022038996219635, 1.345895051956176...
[ -24.30769157409668, -4.439560413360596, -31.516483306884766, -39.56044006347656, 1.802197813987732, 49.92826461791992, -13.318681716918945, 26.72527503967285, 8.879120826721191, -33.05494689941406, 2.3296704292297363, 8.579668045043945 ]
2.966667
89
0
89
0
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[ -25.098901748657227, -4.527472496032715, -32.659339904785156, -38.94505310058594, 1.6263736486434937, 49.92826461791992, -12.79120922088623, 25.494504928588867, 8.087912559509277, -33.05494689941406, 2.3296704292297363, 8.579668045043945 ]
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
[ -0.0989159420132637, 0.06384675949811935, 0.06949812918901443, -0.3140791952610016, -1.114637851715088, -0.4559066891670227, 49.535194396972656, -0.18283236026763916, 0.028850624337792397, 0.11296111345291138, -0.08432374894618988, -0.7246674299240112, -0.13425998389720917, 1.3458950519561...
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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
[ -0.09398409724235535, 0.06382852792739868, 0.06438443064689636, -0.3360607326030731, -1.152769923210144, -0.4696035087108612, 49.66799545288086, -0.1807112693786621, 0.023157760500907898, 0.11711574345827103, -0.07214884459972382, -0.710298478603363, -0.10720234364271164, 1.345895051956176...
[ -27.648351669311523, -4.527472496032715, -39.42856979370117, -36.21977996826172, 2.065934181213379, 49.856529235839844, -7.4285712242126465, 19.25274658203125, 3.3406593799591064, -33.05494689941406, 2.153846263885498, 8.579668045043945 ]
3.233333
97
0
97
0
[ -0.09234196692705154, 0.0644216537475586, 0.06308663636445999, -0.34508344531059265, -1.1619592905044556, -0.4780627191066742, 49.80079650878906, -0.18039695918560028, 0.02076435275375843, 0.11788409948348999, -0.0693068653345108, -0.7121202349662781, -0.0960148274898529, 1.345895051956176...
[ -27.91208839416504, -4.527472496032715, -40.30769348144531, -36.21977996826172, 2.241758346557617, 49.856529235839844, -6.989010810852051, 18.72527503967285, 3.3406593799591064, -33.05494689941406, 2.065934181213379, 8.579668045043945 ]
3.266667
98
0
98
0
[ -0.09079835563898087, 0.0648016482591629, 0.061990030109882355, -0.3515835106372833, -1.1701167821884155, -0.48434358835220337, 49.80079650878906, -0.1805562973022461, 0.018144991248846054, 0.11816786974668503, -0.06727101653814316, -0.7108580470085144, -0.08387409150600433, 1.345895051956...
[ -28.263736724853516, -4.527472496032715, -40.92307662963867, -36.21977996826172, 2.3296704292297363, 49.856529235839844, -6.549450397491455, 18.10988998413086, 3.164835214614868, -33.05494689941406, 2.065934181213379, 8.579668045043945 ]
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": 278,
    "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": {
            "dtype": "video",
            "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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        },
        "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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