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float32
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32.6
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int64
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0
[ 28.99146270751953, -68.2877197265625, 77.34745025634766, 25.476774215698242, -55.078433990478516, 28.980518341064453, 0, 0, 0 ]
[ 25.504587173461914, -81.48148345947266, 87.64302062988281, 25.22588539123535, -55.21367645263672, 29.363449096679688, -0.00221411045640707, 0.0012783173006027937, 0.5859375 ]
3.2
96
0
96
0
[ 29.66781997680664, -66.32291412353516, 74.63986206054688, 26.284067153930664, -54.82987976074219, 28.97478485107422, 0, 0, 0 ]
[ 26.311925888061523, -80.13468170166016, 85.90389251708984, 25.27472496032715, -55.31135559082031, 29.363449096679688, 0, 0, 0 ]
3.233333
97
0
97
0
[ 30.089065551757812, -65.71617889404297, 74.08155822753906, 25.669631958007812, -54.95970153808594, 28.829544067382812, 0, 0, 0 ]
[ 27.119266510009766, -78.1144790649414, 84.34782409667969, 25.27472496032715, -55.31135559082031, 29.29500389099121, -6.984728085046368e-19, 0.0025566346012055874, 1.171875 ]
3.266667
98
0
98
0
[ 29.610469818115234, -61.104393005371094, 70.51624298095703, 25.460485458374023, -54.68585968017578, 29.092622756958008, 0, 0, 0 ]
[ 27.85321044921875, -75.75757598876953, 83.15789794921875, 25.323564529418945, -55.31135559082031, 29.29500389099121, -0.00221411045640707, -0.0012783173006027937, -0.5859375 ]
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": 1,
    "total_frames": 978,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "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",
            "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.wrist": {
            "dtype": "video",
            "shape": [
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                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.front": {
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            "shape": [
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                640,
                3
            ],
            "names": [
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                "channels"
            ],
            "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
            }
        },
        "observation.images.top": {
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            ],
            "names": [
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                "channels"
            ],
            "info": {
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                "video.width": 640,
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                "video.pix_fmt": "yuv420p",
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        },
        "timestamp": {
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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