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float32
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26.3
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int64
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[ 0.479201078414917, -99.96394348144531, 98.7986831665039, 48.6411018371582, 3.8139405250549316, 3.996793508529663, 0.0017341927159577608, 0.011190524324774742, -0.48354071378707886 ]
3.066667
92
0
92
0
[ 0.47068890929222107, -100, 98.37030029296875, 48.65726089477539, 3.815990924835205, 3.99556040763855, 0, 0, -0.5 ]
[ 0.479201078414917, -99.96394348144531, 98.7986831665039, 48.63507080078125, 3.817521572113037, 3.996793508529663, 0.001889446866698563, 0.011416665278375149, -0.48414671421051025 ]
3.1
93
0
93
0
[ 0.47068890929222107, -100, 98.37030029296875, 48.65726089477539, 3.815990924835205, 3.99556040763855, 0, 0, -0.5 ]
[ 0.47399234771728516, -99.96394348144531, 98.80459594726562, 48.6290397644043, 3.817521572113037, 3.996793508529663, 0.0020330341067165136, 0.011684729717671871, -0.48440083861351013 ]
3.133333
94
0
94
0
[ 0.47068890929222107, -100, 98.37030029296875, 48.65726089477539, 3.815990924835205, 3.99556040763855, 0, 0, -0.5 ]
[ 0.47399234771728516, -99.96394348144531, 98.80459594726562, 48.6290397644043, 3.817521572113037, 3.996793508529663, 0.002174955327063799, 0.011989363469183445, -0.4842829406261444 ]
3.166667
95
0
95
0
[ 0.47068890929222107, -100, 98.37030029296875, 48.65726089477539, 3.815990924835205, 3.99556040763855, 0, 0, -0.5 ]
[ 0.47399234771728516, -99.96394348144531, 98.80459594726562, 48.623008728027344, 3.817521572113037, 3.996793508529663, 0.002296093851327896, 0.01226074155420065, -0.4837227165699005 ]
3.2
96
0
96
0
[ 0.47068890929222107, -100, 98.37030029296875, 48.65726089477539, 3.815990924835205, 3.99556040763855, 0, 0, -0.5 ]
[ 0.47399234771728516, -99.96394348144531, 98.81051635742188, 48.623008728027344, 3.817521572113037, 3.996793508529663, 0.0020133471116423607, 0.012314083985984325, -0.4824877679347992 ]
3.233333
97
0
97
0
[ 0.47068890929222107, -100, 98.37030029296875, 48.65726089477539, 3.815990924835205, 3.99556040763855, 0, 0, -0.5 ]
[ 0.47399234771728516, -99.96394348144531, 98.81051635742188, 48.623008728027344, 3.817521572113037, 3.996793508529663, 0.0015330787282437086, 0.012131680734455585, -0.48066651821136475 ]
3.266667
98
0
98
0
[ 0.47068890929222107, -100, 98.37030029296875, 48.65726089477539, 3.815990924835205, 3.99556040763855, 0, 0, -0.5 ]
[ 0.479201078414917, -99.96394348144531, 98.81051635742188, 48.623008728027344, 3.817521572113037, 3.996793508529663, 0.0011499091051518917, 0.011639352887868881, -0.4783706068992615 ]
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",
    "total_episodes": 4,
    "total_frames": 2871,
    "total_tasks": 1,
    "total_videos": 8,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:4"
    },
    "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": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos",
                "x.vel",
                "y.vel",
                "theta.vel"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos",
                "x.vel",
                "y.vel",
                "theta.vel"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "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": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "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
            }
        },
        "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
        }
    }
}

Citation

BibTeX:

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