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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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[ -0.5158437490463257, -48.05194854736328, 35.26220703125, 60.0488395690918, -0.3663003742694855, 10.99195671081543, 0.10406319797039032, 0.0012783173006027937, 0.5859375 ]
3.033333
91
0
91
0
[ 1.5101288557052612, -36.1239013671875, 31.116172790527344, 56.18556594848633, 0.3174603283405304, 11.437403678894043, 0.10000000149011612, 0, 0 ]
[ -0.5895357131958008, -45.87348175048828, 35.171791076660156, 60.0488395690918, -0.2686202824115753, 10.99195671081543, 0.10184908658266068, 0.0025566346012055874, 1.171875 ]
3.066667
92
0
92
0
[ 1.5101288557052612, -34.86814498901367, 30.933940887451172, 55.41237258911133, 0.3174603283405304, 11.437403678894043, 0.10000000149011612, 0, 0 ]
[ 0.1473839282989502, -43.77880096435547, 35.08137512207031, 59.80463790893555, -0.2686202824115753, 10.99195671081543, 0.09742086380720139, 4.1503117218551996e-18, 1.7578125 ]
3.1
93
0
93
0
[ 1.5101288557052612, -33.612388610839844, 30.842824935913086, 54.2955322265625, 0.3174603283405304, 11.437403678894043, 0.10000000149011612, 0, 0 ]
[ 0.8106116652488708, -42.103057861328125, 35.08137512207031, 59.31623840332031, -0.2686202824115753, 10.99195671081543, 0.09963497519493103, 0.006391586735844612, -0.5859375 ]
3.133333
94
0
94
0
[ 1.5101288557052612, -32.44035339355469, 30.842824935913086, 52.835052490234375, 0.3174603283405304, 11.51468276977539, 0.10000000149011612, 0, 0 ]
[ 1.1053794622421265, -40.343528747558594, 34.81012725830078, 58.92551803588867, -0.2686202824115753, 10.99195671081543, 0.10406319797039032, 0.003834951901808381, 2.795593331836804e-16 ]
3.166667
95
0
95
0
[ 1.5101288557052612, -31.017162322998047, 30.842824935913086, 50.94501876831055, 0.3663003742694855, 11.51468276977539, 0.10000000149011612, 0, 0 ]
[ 1.1790714263916016, -38.33263397216797, 34.71971130371094, 58.0463981628418, -0.12210012227296829, 10.99195671081543, 0.09520675241947174, 0.003834951901808381, 3.4461146353281064e-16 ]
3.2
96
0
96
0
[ 1.5837937593460083, -29.76140594482422, 30.842824935913086, 49.398624420166016, 0.3663003742694855, 11.51468276977539, 0.10000000149011612, 0, 0 ]
[ 0.957995593547821, -36.656890869140625, 34.448463439941406, 56.67887496948242, -0.12210012227296829, 10.99195671081543, 0.09742086380720139, -0.0025566346012055874, -1.171875 ]
3.233333
97
0
97
0
[ 1.6574585437774658, -28.75680160522461, 30.842824935913086, 48.19587707519531, 0.3663003742694855, 11.51468276977539, 0.10000000149011612, 0, 0 ]
[ 0.957995593547821, -36.656890869140625, 34.448463439941406, 56.67887496948242, -0.12210012227296829, 10.99195671081543, 0.09742086380720139, -0.0025566346012055874, -1.171875 ]
3.266667
98
0
98
0
[ 1.6574585437774658, -28.087066650390625, 30.842824935913086, 47.50859069824219, 0.3663003742694855, 11.51468276977539, 0.10000000149011612, 0, 0 ]
[ 0.7369197010993958, -35.14872360229492, 34.35804748535156, 55.79975509643555, -0.07326007634401321, 10.99195671081543, 0.10627730935811996, -0.007669903803616762, -3.515625 ]
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": 1800,
    "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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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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