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float32
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8.53
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int64
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256
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[ -31.4774112701416, -32.002159118652344, -0.04559963569045067, -70.62771606445312, -4.468864440917969, 45.406124114990234, 28.009767532348633, -28.14207649230957, 19.747081756591797, -86.19607543945312, 0.2686202824115753, 48.08959197998047 ]
[ -31.819292068481445, -35.17156982421875, -5.045871734619141, -71.45079803466797, -4.126984119415283, 46.03409957885742, 27.374847412109375, -28.410512924194336, 18.97775650024414, -86.8346176147461, 0.07326007634401321, 48.54802703857422 ]
3.1
93
0
93
0
[ -31.428571701049805, -30.4910945892334, 0.8663930892944336, -70.62771606445312, -4.468864440917969, 45.27296829223633, 28.10744857788086, -27.732240676879883, 19.747081756591797, -85.88235473632812, 0.21978022158145905, 48.08959197998047 ]
[ -31.672771453857422, -33.088233947753906, -3.9449541568756104, -71.29521942138672, -4.126984119415283, 46.03409957885742, 27.570207595825195, -28.160200119018555, 18.97775650024414, -86.67208099365234, 0.07326007634401321, 48.54802703857422 ]
3.133333
94
0
94
0
[ -31.379732131958008, -28.980031967163086, 1.7783857583999634, -70.54875946044922, -4.468864440917969, 45.27296829223633, 28.205127716064453, -27.322404861450195, 19.552528381347656, -85.5686264038086, 0.2686202824115753, 47.95783996582031 ]
[ -31.623931884765625, -31.372549057006836, -2.84403657913208, -71.21742248535156, -4.126984119415283, 46.03409957885742, 27.71672821044922, -27.5344181060791, 18.88310432434082, -86.67208099365234, 0.07326007634401321, 48.54802703857422 ]
3.166667
95
0
95
0
[ -31.28205108642578, -27.468969345092773, 2.690378427505493, -70.54875946044922, -4.468864440917969, 45.27296829223633, 28.253969192504883, -26.775957107543945, 19.163423538208008, -85.09803771972656, 0.21978022158145905, 47.95783996582031 ]
[ -31.5262508392334, -29.77941131591797, -1.8348623514175415, -71.21742248535156, -4.078144073486328, 45.95996856689453, 27.765567779541016, -27.28410530090332, 18.88310432434082, -86.67208099365234, 0.07326007634401321, 48.473567962646484 ]
3.2
96
0
96
0
[ -31.135530471801758, -26.17377281188965, 3.6023712158203125, -70.54875946044922, -4.468864440917969, 45.27296829223633, 28.30280876159668, -25.54644775390625, 18.77431869506836, -84.62744903564453, 0.21978022158145905, 47.826087951660156 ]
[ -31.4774112701416, -28.308822631835938, -0.9174311757087708, -71.13963317871094, -4.078144073486328, 45.885841369628906, 27.814407348632812, -26.90863609313965, 18.7884521484375, -86.50955200195312, 0.07326007634401321, 48.473567962646484 ]
3.233333
97
0
97
0
[ -31.08669090270996, -24.662708282470703, 4.4231648445129395, -70.54875946044922, -4.468864440917969, 45.27296829223633, 28.351648330688477, -24.45355224609375, 18.28793716430664, -84.1568603515625, 0.2686202824115753, 47.562583923339844 ]
[ -31.379732131958008, -26.715686798095703, -0.0917431190609932, -70.98405456542969, -4.078144073486328, 45.885841369628906, 27.86324691772461, -26.032541275024414, 18.40984344482422, -86.02194213867188, 0.07326007634401321, 48.473567962646484 ]
3.266667
98
0
98
0
[ -30.989011764526367, -23.15164566040039, 5.152758598327637, -70.54875946044922, -4.468864440917969, 45.27296829223633, 28.351648330688477, -23.360654830932617, 17.704280853271484, -83.52941131591797, 0.21978022158145905, 47.299076080322266 ]
[ -31.28205108642578, -25.367647171020508, 0.8256880640983582, -70.98405456542969, -4.126984119415283, 45.885841369628906, 27.91208839416504, -24.906131744384766, 17.841930389404297, -85.53433227539062, 0.07326007634401321, 48.250186920166016 ]
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": 10,
    "total_frames": 2225,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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
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            "names": null
        },
        "frame_index": {
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                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            ],
            "names": null
        },
        "index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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