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float32
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25.1
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int64
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2.8
84
0
84
0
[ -0.20133069157600403, -0.023750359192490578, 0.09985581785440445, -0.00447932630777359, -0.7976217269897461, 0.10375596582889557, 25.577056884765625, -0.11038094758987427, 0.01923336088657379, 0.0795094221830368, -0.3734815716743469, -1.3264575004577637, -0.35266831517219543, 49.1981811523...
[ 7.604395389556885, 32.0439567565918, 12.879120826721191, -39.82417678833008, 4.263736248016357, 24.17503547668457, -6.461538314819336, -9.670330047607422, -29.714284896850586, -62.153846740722656, 19.91208839416504, 49.09877395629883 ]
2.833333
85
0
85
0
[ -0.20162063837051392, -0.02311890758574009, 0.09963701665401459, -0.002818003296852112, -0.7970530390739441, 0.10227161645889282, 24.94489288330078, -0.11285650730133057, 0.018334336578845978, 0.07729469239711761, -0.36822304129600525, -1.3306496143341064, -0.34832507371902466, 48.94857025...
[ 7.604395389556885, 32.0439567565918, 12.967033386230469, -39.64834976196289, 4, 24.31850814819336, -5.758241653442383, -8.351648330688477, -29.714284896850586, -61.18681335449219, 19.91208839416504, 49.09877395629883 ]
2.866667
86
0
86
0
[ -0.20142778754234314, -0.02252204529941082, 0.10022208094596863, 0.001704968512058258, -0.7951837778091431, 0.10278275609016418, 26.579315185546875, -0.11659551411867142, 0.016714584082365036, 0.07438766956329346, -0.36264750361442566, -1.3280903100967407, -0.3404906988143921, 48.608783721...
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2.9
87
0
87
0
[ -0.2011379897594452, -0.022844461724162102, 0.09999305009841919, 0.009082302451133728, -0.7969103455543518, 0.10490013659000397, 25.853862762451172, -0.11938215792179108, 0.015487294644117355, 0.07152506709098816, -0.35386019945144653, -1.3290400505065918, -0.33197134733200073, 48.27051162...
[ 7.516483306884766, 32.0439567565918, 12.967033386230469, -39.29670333862305, 3.384615421295166, 24.677188873291016, -4.791208744049072, -5.538461685180664, -29.80219841003418, -59.340660095214844, 19.91208839416504, 49.09877395629883 ]
2.933333
88
0
88
0
[ -0.20100602507591248, -0.022110288962721825, 0.10037825256586075, 0.007100388407707214, -0.7969534397125244, 0.10309270024299622, 26.119182586669922, -0.12068314105272293, 0.014636332169175148, 0.07035274803638458, -0.34844139218330383, -1.3328086137771606, -0.3269304633140564, 47.89388656...
[ 7.516483306884766, 32.0439567565918, 12.967033386230469, -39.20878982543945, 3.0329670906066895, 25.179340362548828, -4.175824165344238, -4.131868362426758, -29.714284896850586, -58.19780349731445, 19.91208839416504, 49.026676177978516 ]
2.966667
89
0
89
0
[ -0.20106379687786102, -0.0215784702450037, 0.09994731098413467, 0.01331058144569397, -0.7965717315673828, 0.10169190168380737, 27.04615020751953, -0.12341530621051788, 0.013733485713601112, 0.0689416229724884, -0.3442974388599396, -1.3205187320709229, -0.3187952935695648, 47.56572723388672...
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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
[ -0.2019849419593811, -0.01860545016825199, 0.09896388649940491, 0.015760093927383423, -0.8024935126304626, 0.08993442356586456, 30.456562042236328, -0.13325318694114685, 0.01059363316744566, 0.06504750996828079, -0.33389055728912354, -1.2945798635482788, -0.29934626817703247, 43.9579429626...
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3.133333
94
0
94
0
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3.166667
95
0
95
0
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[ 6.989010810852051, 32.0439567565918, 12.967033386230469, -38.85714340209961, 1.6263736486434937, 29.196556091308594, -1.186813235282898, 5.890110015869141, -25.670330047607422, -50.81318664550781, 19.824174880981445, 45.56597137451172 ]
3.2
96
0
96
0
[ -0.20281684398651123, -0.017238443717360497, 0.09753957390785217, 0.0197155624628067, -0.8193250894546509, 0.08353151381015778, 32.09900665283203, -0.14007531106472015, 0.010137227363884449, 0.06378892064094543, -0.3311319351196289, -1.2578847408294678, -0.28590118885040283, 37.18083190917...
[ 6.901098728179932, 32.0439567565918, 12.967033386230469, -38.85714340209961, 1.6263736486434937, 30.34433364868164, -0.8351648449897766, 7.296703338623047, -24.263736724853516, -49.758243560791016, 19.824174880981445, 44.340301513671875 ]
3.233333
97
0
97
0
[ -0.20252089202404022, -0.016922960057854652, 0.09797278791666031, 0.02285359799861908, -0.8238947987556458, 0.0841846764087677, 32.91907501220703, -0.14200057089328766, 0.009555758908390999, 0.06347765028476715, -0.3318779766559601, -1.247366189956665, -0.28224271535873413, 34.114238739013...
[ 6.725274562835693, 32.0439567565918, 12.967033386230469, -38.85714340209961, 1.4505494832992554, 30.91822052001953, -0.48351648449897766, 8.527472496032715, -23.384614944458008, -48.70329666137695, 19.824174880981445, 42.754146575927734 ]
3.266667
98
0
98
0
[ -0.20244736969470978, -0.016867196187376976, 0.09738084673881531, 0.026588037610054016, -0.8306149244308472, 0.08371783792972565, 33.36866760253906, -0.1434289515018463, 0.009409947320818901, 0.06337448954582214, -0.3346153497695923, -1.2347257137298584, -0.2785770297050476, 30.90658187866...
[ 6.637362480163574, 32.0439567565918, 12.967033386230469, -38.85714340209961, 1.3626374006271362, 31.420373916625977, -0.3076923191547394, 9.494505882263184, -22.681318283081055, -47.82417678833008, 19.824174880981445, 40.44700622558594 ]
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": 755,
    "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
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        },
        "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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        },
        "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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