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float32
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55.8
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int64
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1.67k
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[ 5.718954086303711, 2.252777099609375, -35.56996154785156, 93.51858520507812, 0.7151987552642822, 0.0731191635131836, -0.00005397896165959537, -8.23785740067251e-7, -0.0000039315782487392426 ]
[ 8.909370422363281, 28.571428298950195, -43.58740234375, 84.80580139160156, 1.831501841545105, 0.6798096299171448, -0.006642331834882498, 0.003834951901808381, 1.7578125 ]
2.733333
82
0
82
0
[ 5.702227592468262, -3.306926727294922, -31.52527618408203, 93.8951187133789, 0.6568192839622498, 0.1002359390258789, -0.00004699252167483792, -7.210946932900697e-7, -0.000003764871507883072 ]
[ 8.294930458068848, 26.47058868408203, -42.58329391479492, 86.34229278564453, 1.6849817037582397, 0.6798096299171448, -0.00442822091281414, 0.0025566346012055874, -0.5859375 ]
2.766667
83
0
83
0
[ 5.429798126220703, -9.833209991455078, -26.36953353881836, 93.95348358154297, 0.6197019815444946, 0.1243124008178711, -0.00003904457844328135, -5.887068255105987e-7, -6.035552360117435e-7 ]
[ 7.526881694793701, 23.613445281982422, -41.21405792236328, 87.6227035522461, 1.3919414281845093, 0.6798096299171448, 0.00221411045640707, -0.0012783173006027937, -0.5859375 ]
2.8
84
0
84
0
[ 5.694484710693359, -21.302207946777344, -16.661117553710938, 93.4985580444336, 0.6174601316452026, 0.1421957015991211, -0.000016210917237913236, -4.2846113501582295e-7, 2.9709190130233765e-7 ]
[ 6.83563756942749, 19.831932067871094, -39.57097244262695, 89.415283203125, 1.196581244468689, 0.6798096299171448, 0.00442822091281414, 0.0025566346012055874, 1.171875 ]
2.833333
85
0
85
0
[ 5.781781196594238, -29.6016845703125, -10.463726043701172, 93.372314453125, 0.6286168098449707, 0.1603078842163086, 0.000004968012945028022, -3.194945747964084e-7, 0.0000013342360034585 ]
[ 6.0675883293151855, 15.546218872070312, -37.65403747558594, 91.37857818603516, 1.0012210607528687, 0.6798096299171448, -0.00442822091281414, 0.0025566346012055874, -0.5859375 ]
2.866667
86
0
86
0
[ 5.783725738525391, -35.60966491699219, -6.184051513671875, 93.10417938232422, 0.615914523601532, 0.16675281524658203, 0.000026358127797720954, -2.6544148568063974e-7, 0.0000012263190001249313 ]
[ 5.760368824005127, 10.084033966064453, -34.915565490722656, 92.14682006835938, 0.9035409092903137, 0.6798096299171448, -0.00221411045640707, 0.0012783173006027937, -1.171875 ]
2.9
87
0
87
0
[ 5.68143892288208, -41.322086334228516, -2.026531219482422, 92.67166137695312, 0.6138575077056885, 0.17896652221679688, 0.000045796336053172126, -2.2247695596888661e-7, 0.0000023540924303233624 ]
[ 5.683563709259033, 4.369748115539551, -31.538110733032227, 92.65898132324219, 0.8547008633613586, 0.6798096299171448, 0.006642331834882498, -0.003834951901808381, 3.515625 ]
2.933333
88
0
88
0
[ 5.809685707092285, -45.06651306152344, 0.4466896057128906, 92.44682312011719, 0.6471449136734009, 0.1868276596069336, 0.00004922136940876953, -1.8475475371815264e-7, 0.0000017361016944050789 ]
[ 5.760368824005127, -1.9327731132507324, -27.06526756286621, 92.65898132324219, 0.7570207715034485, 0.6798096299171448, -0.00442822091281414, 0.0025566346012055874, -2.34375 ]
2.966667
89
0
89
0
[ 5.801443576812744, -49.131813049316406, 2.4251747131347656, 92.31925964355469, 0.6438184380531311, 0.18832874298095703, 0.00005833684190292843, -1.7477213987149298e-7, 0.0000013548997230827808 ]
[ 6.144393444061279, -8.823529243469238, -21.497034072875977, 92.74434661865234, 0.7081807255744934, 0.6798096299171448, -0.00442822091281414, 0.0025566346012055874, -2.34375 ]
3
90
0
90
0
[ 5.779209613800049, -50.624027252197266, 3.4193954467773438, 92.20916748046875, 0.6396147608757019, 0.19347763061523438, 0.000057335786550538614, -1.6186641005333513e-7, 7.24277924746275e-7 ]
[ 6.451612949371338, -16.218486785888672, -16.020082473754883, 92.74434661865234, 0.7081807255744934, 0.6798096299171448, -0.00221411045640707, -0.0012783173006027937, -0.5859375 ]
3.033333
91
0
91
0
[ 5.709756851196289, -52.27815628051758, 3.709941864013672, 92.33818054199219, 0.6349576115608215, 0.20074176788330078, 0.000060152025980642065, -1.618973328731954e-7, -2.1542655304074287e-7 ]
[ 6.298003196716309, -23.613445281982422, -10.725695610046387, 92.74434661865234, 0.7081807255744934, 0.6798096299171448, 6.984728085046368e-19, -0.0025566346012055874, -1.171875 ]
3.066667
92
0
92
0
[ 5.638911724090576, -55.38222122192383, 5.246335983276367, 92.23048400878906, 0.6439760327339172, 0.20248699188232422, 0.00006241245137061924, -1.1482552508823574e-7, -0.0000012154923751950264 ]
[ 6.144393444061279, -30.672269821166992, -6.070287704467773, 92.74434661865234, 0.7081807255744934, 0.6798096299171448, -0.006642331834882498, 0.003834951901808381, 1.7578125 ]
3.1
93
0
93
0
[ 5.4893035888671875, -58.60310745239258, 6.13377571105957, 92.38634490966797, 0.6272112727165222, 0.2149648666381836, 0.000060416354244807735, -9.644463716540486e-8, -0.000002645596396178007 ]
[ 5.529953956604004, -36.89075469970703, -2.4189867973327637, 92.74434661865234, 0.7570207715034485, 0.6798096299171448, 0.00221411045640707, 0.0012783173006027937, 0.5859375 ]
3.133333
94
0
94
0
[ 5.465279579162598, -59.72356414794922, 6.998903274536133, 92.13804626464844, 0.6063234210014343, 0.20922470092773438, 0.00006312080950010568, -1.211901690112427e-7, -0.0000023083994165062904 ]
[ 5.529953956604004, -42.6890754699707, 0.04564125835895538, 92.74434661865234, 0.7570207715034485, 0.6798096299171448, -0.00221411045640707, -0.0012783173006027937, -0.5859375 ]
3.166667
95
0
95
0
[ 5.44843864440918, -60.5372428894043, 7.488214492797852, 92.08014678955078, 0.611966609954834, 0.21391582489013672, 0.00006329089228529483, -9.56133590079844e-8, -0.0000026126508601009846 ]
[ 5.45314884185791, -46.89075469970703, 1.5974440574645996, 92.82970428466797, 0.7570207715034485, 0.6798096299171448, 6.984728085046368e-19, -0.0025566346012055874, -1.171875 ]
3.2
96
0
96
0
[ 5.205685615539551, -66.23799133300781, 8.928749084472656, 92.20664978027344, 0.5871677398681641, 0.2263193130493164, 0.00006587704410776496, -6.217851478140801e-8, -0.0000037155114114284515 ]
[ 5.913978576660156, -50.33613586425781, 3.14924693107605, 92.82970428466797, 0.7570207715034485, 0.6798096299171448, -0.00442822091281414, -0.0025566346012055874, -1.171875 ]
3.233333
97
0
97
0
[ 4.892111301422119, -74.6050033569336, 13.374067306518555, 91.23851013183594, 0.4932740032672882, 0.22565841674804688, 0.00007865589577704668, -1.6251760825980455e-7, 0.0000013068201951682568 ]
[ 6.144393444061279, -53.61344528198242, 4.7010498046875, 92.82970428466797, 0.7570207715034485, 0.6798096299171448, 0.006642331834882498, 0.003834951901808381, 1.7578125 ]
3.266667
98
0
98
0
[ 4.566043376922607, -82.91708374023438, 16.216514587402344, 91.01329040527344, 0.447247713804245, 0.23673725128173828, 0.00008042430272325873, -1.6034937289077789e-7, 6.439513526856899e-7 ]
[ 5.45314884185791, -56.13445281982422, 5.887722492218018, 92.82970428466797, 0.7570207715034485, 0.6798096299171448, 0.011070553213357925, 0.0012783173006027937, 2.34375 ]
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": 1675,
    "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": [
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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": [
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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.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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                3
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            "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": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "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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