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[ -6.4801177978515625, -97.38616943359375, 93.39366149902344, 66.12262725830078, -3.247863292694092, 4.601006507873535, -1.976054412305888e-17, 0.0025566346012055874, 29.296875 ]
2.666667
80
0
80
0
[ -6.014856338500977, -97.62800598144531, 91.6748046875, 66.2921142578125, -3.0618622303009033, 4.797492980957031, 0.000017326325178146362, -0.00001264084130525589, 29.63037109375 ]
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2.7
81
0
81
0
[ -6.069342136383057, -97.55830383300781, 91.42759704589844, 65.96672821044922, -3.101625919342041, 4.847002029418945, -0.000019358471035957336, -0.000002765667886706069, 29.63152313232422 ]
[ -6.111929416656494, -97.38616943359375, 93.39366149902344, 66.299072265625, -3.296703338623047, 4.601006507873535, -0.00221411045640707, 0.0012783173006027937, 28.7109375 ]
2.733333
82
0
82
0
[ -5.988092422485352, -97.67628479003906, 91.51115417480469, 66.5743179321289, -3.0374603271484375, 4.782617568969727, -0.00006387196481227875, -0.0000017934344214154407, 29.736082077026367 ]
[ -6.1855669021606445, -97.38616943359375, 93.39366149902344, 66.299072265625, -3.296703338623047, 4.601006507873535, -0.00221411045640707, 0.0012783173006027937, 28.7109375 ]
2.766667
83
0
83
0
[ -5.963323593139648, -97.65892028808594, 91.51643371582031, 66.4450912475586, -3.1228647232055664, 4.85307502746582, -0.000043993815779685974, -0.000014070512406760827, 29.589378356933594 ]
[ -6.1855669021606445, -97.38616943359375, 93.39366149902344, 66.299072265625, -3.296703338623047, 4.601006507873535, -1.9547358172508038e-17, 0.0025566346012055874, 31.0546875 ]
2.8
84
0
84
0
[ -5.970548629760742, -97.6299057006836, 92.10614013671875, 66.68267822265625, -3.0471696853637695, 4.928715705871582, -0.00023084506392478943, 2.2007952793501318e-7, 29.61137580871582 ]
[ -6.111929416656494, -97.38616943359375, 93.39366149902344, 66.299072265625, -3.296703338623047, 4.601006507873535, -2.5199615646980885e-17, 0.007669903803616762, 31.640625 ]
2.833333
85
0
85
0
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[ -6.406480312347412, -97.38616943359375, 93.39366149902344, 66.299072265625, -3.296703338623047, 4.601006507873535, -1.811445966716203e-17, 0.0025566346012055874, 27.5390625 ]
2.866667
86
0
86
0
[ -5.953461647033691, -97.68788146972656, 91.86540985107422, 66.9411392211914, -2.812530517578125, 4.848668575286865, -0.0007019862532615662, -0.000020564355509122834, 29.786893844604492 ]
[ -6.4801177978515625, -97.38616943359375, 93.39366149902344, 66.299072265625, -3.1990232467651367, 4.601006507873535, 0.00221411045640707, -0.0012783173006027937, 27.5390625 ]
2.9
87
0
87
0
[ -5.891054153442383, -97.84510040283203, 91.6641845703125, 66.91583251953125, -2.91880202293396, 4.957006454467773, -0.00021183863282203674, -0.000004749872459797189, 29.78408432006836 ]
[ -6.4801177978515625, -97.38616943359375, 93.39366149902344, 66.299072265625, -3.1990232467651367, 4.601006507873535, -0.00885644182562828, -0.01022653840482235, 23.4375 ]
2.933333
88
0
88
0
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[ -6.259204864501953, -97.38616943359375, 93.39366149902344, 66.38729858398438, -3.296703338623047, 4.601006507873535, -0.006642331834882498, -0.003834951901808381, 26.3671875 ]
2.966667
89
0
89
0
[ -5.946557998657227, -97.6910400390625, 91.79301452636719, 66.70542907714844, -2.9787557125091553, 4.854794025421143, 0.00002555549144744873, -0.00000765481854614336, 29.541166305541992 ]
[ -6.259204864501953, -97.38616943359375, 93.39366149902344, 66.38729858398438, -3.296703338623047, 4.601006507873535, -0.006642331834882498, -0.003834951901808381, 26.3671875 ]
3
90
0
90
0
[ -5.912101745605469, -97.92117309570312, 92.16181945800781, 67.15129852294922, -2.9669268131256104, 4.923027992248535, -0.0000040102750062942505, -0.000003495697455946356, 29.73497200012207 ]
[ -6.0382914543151855, -97.38616943359375, 93.39366149902344, 66.47551727294922, -3.296703338623047, 4.601006507873535, -1.811445966716203e-17, 0.0025566346012055874, 27.5390625 ]
3.033333
91
0
91
0
[ -5.917641639709473, -97.49566650390625, 91.84478759765625, 66.68283081054688, -2.92327618598938, 4.932164192199707, 0.00006226636469364166, -0.000007881986675783992, 29.587799072265625 ]
[ -6.0382914543151855, -97.38616943359375, 93.39366149902344, 66.65196228027344, -3.247863292694092, 4.601006507873535, -0.00221411045640707, 0.0012783173006027937, 30.46875 ]
3.066667
92
0
92
0
[ -6.101889610290527, -97.38530731201172, 91.57255554199219, 65.62925720214844, -3.2292304039001465, 4.801052570343018, 0.000031828880310058594, -0.000004612677003024146, -0.027278661727905273 ]
[ -6.0382914543151855, -97.38616943359375, 93.39366149902344, 66.65196228027344, -3.1501832008361816, 4.601006507873535, 0.00442822091281414, 0.007669903803616762, 31.640625 ]
3.1
93
0
93
0
[ -5.975094318389893, -97.80697631835938, 92.73662567138672, 66.36492919921875, -2.9225616455078125, 4.882126808166504, 0.0004944559186697006, 0.000010278630725224502, 29.289487838745117 ]
[ -6.0382914543151855, -97.38616943359375, 93.39366149902344, 66.65196228027344, -3.1013431549072266, 4.601006507873535, 0.00221411045640707, 0.003834951901808381, 29.8828125 ]
3.133333
94
0
94
0
[ -5.917458534240723, -97.56149291992188, 91.86870574951172, 66.79595184326172, -2.7965056896209717, 4.888653755187988, -0.0003377031534910202, -0.000017921865946846083, 29.595808029174805 ]
[ -6.111929416656494, -97.38616943359375, 93.39366149902344, 66.82840728759766, -3.1013431549072266, 4.601006507873535, -0.00442822091281414, -9.159789476189627e-18, 28.125 ]
3.166667
95
0
95
0
[ -5.957484245300293, -97.70484924316406, 92.360595703125, 66.41788482666016, -2.8914690017700195, 4.85184383392334, 0.0001444295048713684, -0.000008787417755229399, 29.597978591918945 ]
[ -6.406480312347412, -97.3018569946289, 93.39366149902344, 66.82840728759766, -2.9548230171203613, 4.601006507873535, 0.00442822091281414, -0.007669903803616762, 22.8515625 ]
3.2
96
0
96
0
[ -5.918526649475098, -97.75997924804688, 91.59718322753906, 66.9641342163086, -2.840204954147339, 4.8958940505981445, 0.00018215179443359375, -0.000005568637789110653, 29.79451560974121 ]
[ -6.406480312347412, -97.3018569946289, 93.39366149902344, 66.47551727294922, -3.1013431549072266, 4.529115676879883, -0.00221411045640707, -0.008948220871388912, 18.75 ]
3.233333
97
0
97
0
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[ -6.3328423500061035, -97.38616943359375, 93.39366149902344, 66.5637435913086, -3.1013431549072266, 4.529115676879883, -0.00221411045640707, -0.003834951901808381, 15.8203125 ]
3.266667
98
0
98
0
[ -5.878628730773926, -97.70771789550781, 92.4022216796875, 66.64044189453125, -2.760077714920044, 4.935030937194824, -0.0002898257225751877, 0.000002840992237906903, 29.69373893737793 ]
[ -6.0382914543151855, -97.38616943359375, 93.39366149902344, 66.65196228027344, -3.0036630630493164, 4.601006507873535, 0.00442822091281414, -4.462899139435926e-18, 22.8515625 ]
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": "lekiwi_client",
    "total_episodes": 2,
    "total_frames": 1515,
    "total_tasks": 2,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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",
            "shape": [
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            ],
            "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": {
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            "shape": [
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                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
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "shape": [
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            "names": null
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        "episode_index": {
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        "index": {
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        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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