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float32
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53.6
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int64
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1.61k
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[ -0.8351648449897766, 24.74725341796875, 27.604394912719727, -8.131868362426758, -16.74725341796875, 25.04118537902832, 0, 0, 0 ]
[ -0.2209131121635437, 19.47723388671875, 34.02714920043945, -6.043229103088379, -13.308913230895996, 1.078360915184021, 0.00221411045640707, -0.0012783173006027937, -0.5859375 ]
3.133333
94
0
94
0
[ -0.8351648449897766, 24.923076629638672, 27.604394912719727, -8.395604133605957, -16.83516502380371, 25.78253746032715, 0, 0, 0 ]
[ -0.2209131121635437, 19.983137130737305, 33.57466125488281, -6.043229103088379, -13.504273414611816, 1.078360915184021, 0, 0, 0 ]
3.166667
95
0
95
0
[ -0.8351648449897766, 25.098901748657227, 27.604394912719727, -8.835165023803711, -16.83516502380371, 25.947280883789062, 0, 0, 0 ]
[ -0.2209131121635437, 20.404722213745117, 33.212669372558594, -6.043229103088379, -13.55311393737793, 1.078360915184021, -0.00221411045640707, 0.0012783173006027937, 0.5859375 ]
3.2
96
0
96
0
[ -1.0109890699386597, 25.36263656616211, 27.516483306884766, -9.01098918914795, -16.83516502380371, 26.194398880004883, 0, 0, 0 ]
[ -0.2209131121635437, 20.57335662841797, 33.12217330932617, -6.043229103088379, -13.699633598327637, 1.078360915184021, 0, 0, 0 ]
3.233333
97
0
97
0
[ -1.0989011526107788, 25.538461685180664, 27.340660095214844, -9.01098918914795, -16.923076629638672, 26.68863296508789, 0, 0, 0 ]
[ -0.2209131121635437, 21.838111877441406, 32.036197662353516, -6.043229103088379, -14.090353965759277, 2.3005032539367676, 0, 0, 0 ]
3.266667
98
0
98
0
[ -1.186813235282898, 25.714284896850586, 27.076923370361328, -9.01098918914795, -17.186813354492188, 27.429983139038086, 0, 0, 0 ]
[ -0.2209131121635437, 22.091062545776367, 31.67420768737793, -6.043229103088379, -14.2368745803833, 2.7318475246429443, 0, 0, 0 ]
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": 10,
    "total_frames": 13069,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
            "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": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

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BibTeX:

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