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float32
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22.2
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int64
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667
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[ 26.05616569519043, 19.485294342041016, 69.26605224609375, -85.6865005493164, -0.3174603283405304, 45.589324951171875, 3.980463981628418, -25.657072067260742, -12.257453918457031, -68.3055648803711, 1.6361416578292847, 49.81385040283203 ]
3.066667
92
0
92
0
[ 26.44688606262207, 20.992984771728516, 74.37300872802734, -84.9190673828125, 1.2942613363265991, 45.27296829223633, 4.371184349060059, -25.683059692382812, -11.18677043914795, -68.86274719238281, 1.831501841545105, 49.53886795043945 ]
[ 26.105005264282227, 20.58823585510254, 70.55046081542969, -85.6865005493164, -0.3663003742694855, 45.589324951171875, 4.029304027557373, -25.657072067260742, -12.257453918457031, -68.3055648803711, 1.6849817037582397, 49.81385040283203 ]
3.1
93
0
93
0
[ 26.495725631713867, 21.640583038330078, 74.8290023803711, -84.9190673828125, 1.196581244468689, 45.27296829223633, 4.371184349060059, -25, -11.089493751525879, -68.78431701660156, 1.78266179561615, 49.53886795043945 ]
[ 26.105005264282227, 21.44607925415039, 71.10091400146484, -85.6865005493164, -0.3174603283405304, 45.589324951171875, 4.029304027557373, -25.53191566467285, -12.257453918457031, -68.3055648803711, 1.78266179561615, 49.81385040283203 ]
3.133333
94
0
94
0
[ 26.64224624633789, 22.719913482666016, 75.55859375, -84.8401107788086, 1.196581244468689, 45.27296829223633, 4.420024394989014, -24.726776123046875, -11.18677043914795, -68.62744903564453, 1.78266179561615, 49.53886795043945 ]
[ 26.105005264282227, 22.058822631835938, 71.2844009399414, -85.6865005493164, -0.3663003742694855, 45.589324951171875, 4.029304027557373, -25.28160285949707, -12.257453918457031, -68.3055648803711, 1.78266179561615, 49.81385040283203 ]
3.166667
95
0
95
0
[ 26.739927291870117, 23.583377838134766, 76.28819274902344, -84.9190673828125, 1.196581244468689, 45.13981246948242, 4.468864440917969, -24.726776123046875, -11.089493751525879, -68.62744903564453, 1.78266179561615, 49.53886795043945 ]
[ 26.105005264282227, 22.91666603088379, 71.2844009399414, -85.6865005493164, -0.3174603283405304, 45.589324951171875, 4.029304027557373, -24.655818939208984, -12.162801742553711, -68.3055648803711, 1.78266179561615, 49.81385040283203 ]
3.2
96
0
96
0
[ 26.984127044677734, 24.55477523803711, 77.1089859008789, -84.9190673828125, 1.245421290397644, 45.13981246948242, 4.566544532775879, -24.726776123046875, -11.089493751525879, -68.54901885986328, 1.78266179561615, 49.53886795043945 ]
[ 26.153846740722656, 24.019607543945312, 72.20183563232422, -85.6865005493164, -0.3174603283405304, 45.589324951171875, 4.078144073486328, -24.280349731445312, -12.257453918457031, -68.3055648803711, 1.78266179561615, 49.81385040283203 ]
3.233333
97
0
97
0
[ 27.179487228393555, 25.3103084564209, 77.83857727050781, -84.8401107788086, 1.196581244468689, 45.13981246948242, 4.664224624633789, -24.726776123046875, -11.089493751525879, -68.54901885986328, 1.78266179561615, 49.53886795043945 ]
[ 26.300365447998047, 25, 73.21100616455078, -85.6865005493164, -0.3663003742694855, 45.589324951171875, 4.126984119415283, -24.155193328857422, -12.257453918457031, -68.3055648803711, 1.831501841545105, 49.81385040283203 ]
3.266667
98
0
98
0
[ 27.326007843017578, 26.605504989624023, 79.2065658569336, -84.76115417480469, 1.245421290397644, 45.13981246948242, 4.761904716491699, -25, -11.089493751525879, -68.54901885986328, 1.78266179561615, 49.53886795043945 ]
[ 26.44688606262207, 25.85784339904785, 73.94495391845703, -85.6865005493164, -0.3174603283405304, 45.589324951171875, 4.224664211273193, -24.155193328857422, -12.257453918457031, -68.3055648803711, 1.831501841545105, 49.81385040283203 ]
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": 6,
    "total_frames": 3042,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:6"
    },
    "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.top": {
            "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.side": {
            "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",
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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