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float32
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20
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int64
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599
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int64
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2
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int64
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1.8k
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int64
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3
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[ 0.5895357131958008, -92.04021453857422, 71.1573257446289, 52.67399215698242, 0.07326007634401321, 1.5415549278259277, 0.09963497519493103, -0.0012783173006027937, -0.5859375 ]
3.133333
94
0
94
0
[ 3.572744131088257, -91.46086120605469, 77.22095489501953, 48.539520263671875, 1.9291819334030151, 1.0046367645263672, 0.10000000149011612, 0, 0 ]
[ 0.957995593547821, -92.04021453857422, 71.60940551757812, 52.42979431152344, 0.07326007634401321, 1.5415549278259277, 0.10184908658266068, 4.079350792236419e-18, 1.7578125 ]
3.166667
95
0
95
0
[ 3.572744131088257, -91.46086120605469, 77.94988250732422, 48.02405548095703, 2.124542236328125, 1.0046367645263672, 0.10000000149011612, 0, 0 ]
[ 1.6949152946472168, -91.95642852783203, 72.24231719970703, 51.89255142211914, 0.12210012227296829, 1.5415549278259277, 0.10849142074584961, 0.008948220871388912, 2.34375 ]
3.2
96
0
96
0
[ 3.572744131088257, -91.46086120605469, 78.58769989013672, 47.85223388671875, 2.17338228225708, 1.0046367645263672, 0.10000000149011612, 0, 0 ]
[ 1.915991187095642, -91.95642852783203, 73.23689270019531, 51.11111068725586, 0.17094017565250397, 1.5415549278259277, 0.09963497519493103, -0.008948220871388912, -4.1015625 ]
3.233333
97
0
97
0
[ 3.572744131088257, -91.5445785522461, 79.1343994140625, 47.59450149536133, 2.17338228225708, 1.0046367645263672, 0.10000000149011612, 0, 0 ]
[ 2.4318349361419678, -91.95642852783203, 74.50271606445312, 50.231990814208984, 0.41514042019844055, 1.5415549278259277, 0.09077852964401245, -0.0012783173006027937, -0.5859375 ]
3.266667
98
0
98
0
[ 3.646408796310425, -91.5445785522461, 79.49886322021484, 47.50859069824219, 2.222222328186035, 1.0046367645263672, 0.10000000149011612, 0, 0 ]
[ 3.2424466609954834, -91.95642852783203, 75.7685317993164, 49.35287094116211, 0.9035409092903137, 1.5415549278259277, 0.0885644257068634, 0.01022653840482235, 2.9296875 ]
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": "v2.1",
    "robot_type": "lekiwi_client",
    "total_episodes": 3,
    "total_frames": 1797,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "arm_shoulder_pan.pos",
                "arm_shoulder_lift.pos",
                "arm_elbow_flex.pos",
                "arm_wrist_flex.pos",
                "arm_wrist_roll.pos",
                "arm_gripper.pos",
                "x.vel",
                "y.vel",
                "theta.vel"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "arm_shoulder_pan.pos",
                "arm_shoulder_lift.pos",
                "arm_elbow_flex.pos",
                "arm_wrist_flex.pos",
                "arm_wrist_roll.pos",
                "arm_gripper.pos",
                "x.vel",
                "y.vel",
                "theta.vel"
            ]
        },
        "observation.images.front": {
            "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.wrist": {
            "dtype": "video",
            "shape": [
                640,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 640,
                "video.width": 480,
                "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": {
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            ],
            "names": null
        },
        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

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