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nbirukov
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bimanual-so101-stack-toy-pyramid-slow

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Robotics
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[ 20.733945846557617, -46.8227424621582, 7.0698089599609375, 72.4637680053711, -49.28404235839844, 1.492537260055542, -28.137577056884766, -43.17525863647461, -4.379232406616211, 81.76344299316406, -65.13330078125, 1.4173228740692139 ]
[ 17.01275062561035, -49.93710708618164, 13.760645866394043, 70.77702331542969, -49.347259521484375, 1.238816261291504, -24.743778228759766, -48.76310348510742, 6.497046947479248, 78.70173645019531, -65.362548828125, 1.8329938650131226 ]
3.1
93
0
93
0
[ 21.61467933654785, -46.4882926940918, 6.625166893005371, 72.4637680053711, -49.231971740722656, 1.492537260055542, -28.72301483154297, -42.103092193603516, -6.275394916534424, 82.70967864990234, -65.08102416992188, 1.4173228740692139 ]
[ 18.10564613342285, -49.098533630371094, 12.236664772033691, 71.45270538330078, -49.347259521484375, 1.238816261291504, -25.69546127319336, -47.08595275878906, 4.043616771697998, 79.55027770996094, -65.362548828125, 1.8329938650131226 ]
3.133333
94
0
94
0
[ 22.27522850036621, -46.4882926940918, 6.358381271362305, 72.4637680053711, -49.179901123046875, 1.492537260055542, -29.308452606201172, -41.278350830078125, -7.990970611572266, 83.91397857666016, -64.8719253540039, 1.4173228740692139 ]
[ 18.979963302612305, -48.25995635986328, 11.071268081665039, 71.875, -49.347259521484375, 1.238816261291504, -26.720352172851562, -45.4926643371582, 1.6810541152954102, 80.4836654663086, -65.362548828125, 1.8329938650131226 ]
3.166667
95
0
95
0
[ 22.642202377319336, -46.4882926940918, 6.536238193511963, 72.4637680053711, -48.971622467041016, 1.492537260055542, -29.67435073852539, -40.783504486083984, -8.71331787109375, 84.94623565673828, -64.4537353515625, 1.4173228740692139 ]
[ 20, -47.50524139404297, 10.174809455871582, 72.12837982177734, -49.347259521484375, 1.238816261291504, -27.672035217285156, -44.06708526611328, -0.7723761796951294, 81.50190734863281, -65.362548828125, 1.8329938650131226 ]
3.2
96
0
96
0
[ 22.935779571533203, -46.32107162475586, 6.447309970855713, 72.3785171508789, -48.502994537353516, 1.492537260055542, -30.04024887084961, -40.61855697631836, -9.164785385131836, 86.06451416015625, -64.0355453491211, 1.4173228740692139 ]
[ 20.801456451416016, -47.1698112487793, 9.636934280395508, 72.21283721923828, -49.347259521484375, 1.238816261291504, -28.550512313842773, -42.9769401550293, -2.771467447280884, 82.435302734375, -65.25821685791016, 1.8329938650131226 ]
3.233333
97
0
97
0
[ 22.788990020751953, -46.153846740722656, 6.447309970855713, 72.3785171508789, -48.13850402832031, 1.492537260055542, -30.479326248168945, -40.61855697631836, -9.164785385131836, 87.09677124023438, -63.930999755859375, 1.4173228740692139 ]
[ 21.530054092407227, -46.91823959350586, 9.547287940979004, 72.21283721923828, -49.295040130615234, 1.238816261291504, -28.91654396057129, -41.97064971923828, -4.2253522872924805, 83.62325286865234, -64.94522857666016, 1.8329938650131226 ]
3.266667
98
0
98
0
[ 22.788990020751953, -46.153846740722656, 6.447309970855713, 72.3785171508789, -47.982295989990234, 1.571091890335083, -30.99158477783203, -40.61855697631836, -9.074492454528809, 87.95698547363281, -63.87872314453125, 1.4173228740692139 ]
[ 22.258651733398438, -46.66666793823242, 9.278350830078125, 72.29729461669922, -48.98172378540039, 1.238816261291504, -29.13616371154785, -41.38364791870117, -5.224897861480713, 84.64149475097656, -64.58007049560547, 1.8329938650131226 ]
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": 16148,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "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": {
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            "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"
            ]
        },
        "observation.state": {
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            "names": [
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                "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"
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        "observation.images.left": {
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            "shape": [
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            "names": [
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            "info": {
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        "observation.images.front": {
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        "observation.images.up": {
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            "info": {
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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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    }
}

Citation

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