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observation.state
sequence
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float32
0
115
frame_index
int64
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1.72k
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int64
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31
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39.3k
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[ -2.109375, 74.970703125, 46.40625, 26.279296875, -86.572265625, 15.71229076385498 ]
4.933333
74
0
74
0
[ -2.900390625, 82.529296875, 55.107421875, 25.400390625, -87.099609375, 16.682374954223633 ]
[ -2.021484375, 77.87109375, 47.724609375, 25.83984375, -86.572265625, 15.71229076385498 ]
5
75
0
75
0
[ -2.900390625, 83.935546875, 55.810546875, 25.048828125, -86.923828125, 16.776626586914062 ]
[ -2.021484375, 80.5078125, 49.306640625, 25.6640625, -86.572265625, 15.71229076385498 ]
5.066667
76
0
76
0
[ -2.900390625, 85.166015625, 55.8984375, 24.2578125, -87.099609375, 17.059377670288086 ]
[ -1.93359375, 81.9140625, 50.625, 25.6640625, -86.572265625, 15.71229076385498 ]
5.133333
77
0
77
0
[ -2.98828125, 86.220703125, 55.986328125, 23.642578125, -87.275390625, 17.247879028320312 ]
[ -1.93359375, 83.056640625, 51.416015625, 25.6640625, -86.396484375, 15.71229076385498 ]
5.2
78
0
78
0
[ -3.779296875, 87.1875, 56.337890625, 23.115234375, -87.1875, 17.247879028320312 ]
[ -1.93359375, 84.7265625, 51.6796875, 25.13671875, -86.572265625, 16.340782165527344 ]
5.266667
79
0
79
0
[ -4.921875, 88.154296875, 57.041015625, 23.115234375, -86.66015625, 17.43638038635254 ]
[ -1.93359375, 86.1328125, 51.6796875, 24.169921875, -86.748046875, 16.6201114654541 ]
5.333333
80
0
80
0
[ -5.888671875, 88.9453125, 57.392578125, 23.115234375, -86.572265625, 17.624881744384766 ]
[ -2.109375, 87.099609375, 52.119140625, 23.818359375, -86.748046875, 16.6201114654541 ]
5.4
81
0
81
0
[ -6.416015625, 90, 57.392578125, 23.02734375, -86.484375, 17.624881744384766 ]
[ -2.98828125, 88.2421875, 53.173828125, 23.73046875, -86.396484375, 16.6201114654541 ]
5.466667
82
0
82
0
[ -6.591796875, 90.791015625, 57.041015625, 22.060546875, -86.484375, 17.907634735107422 ]
[ -4.04296875, 88.59375, 53.525390625, 23.73046875, -86.396484375, 16.6201114654541 ]
5.533333
83
0
83
0
[ -6.50390625, 91.845703125, 56.6015625, 20.56640625, -86.396484375, 18.755889892578125 ]
[ -5.44921875, 90.3515625, 53.701171875, 23.466796875, -86.396484375, 16.6201114654541 ]
5.6
84
0
84
0
[ -6.416015625, 93.33984375, 56.953125, 19.51171875, -86.220703125, 19.132892608642578 ]
[ -5.888671875, 90.87890625, 53.7890625, 22.5, -86.396484375, 16.89944076538086 ]
5.666667
85
0
85
0
[ -6.328125, 95.185546875, 57.83203125, 18.45703125, -86.044921875, 19.132892608642578 ]
[ -5.888671875, 92.021484375, 53.7890625, 21.005859375, -86.396484375, 17.807262420654297 ]
5.733333
86
0
86
0
[ -6.328125, 97.294921875, 59.58984375, 18.193359375, -85.4296875, 19.03864288330078 ]
[ -5.712890625, 92.900390625, 53.7890625, 20.302734375, -86.396484375, 18.22625732421875 ]
5.8
87
0
87
0
[ -6.328125, 99.140625, 61.259765625, 17.841796875, -84.814453125, 18.94439125061035 ]
[ -5.361328125, 95.712890625, 54.228515625, 19.072265625, -86.1328125, 18.64525032043457 ]
5.866667
88
0
88
0
[ -6.328125, 101.07421875, 62.9296875, 17.841796875, -84.55078125, 18.850141525268555 ]
[ -5.361328125, 97.734375, 55.546875, 18.45703125, -85.341796875, 18.575420379638672 ]
5.933333
89
0
89
0
[ -6.240234375, 103.18359375, 64.599609375, 17.40234375, -84.55078125, 18.850141525268555 ]
[ -5.361328125, 99.66796875, 57.392578125, 17.841796875, -84.638671875, 18.29608917236328 ]
6
90
0
90
0
[ -6.240234375, 104.765625, 66.005859375, 17.314453125, -84.55078125, 18.850141525268555 ]
[ -5.361328125, 101.689453125, 58.974609375, 17.666015625, -84.462890625, 18.156423568725586 ]
6.066667
91
0
91
0
[ -6.328125, 105.908203125, 67.236328125, 17.314453125, -84.55078125, 18.850141525268555 ]
[ -5.361328125, 103.623046875, 60.64453125, 17.666015625, -84.462890625, 18.156423568725586 ]
6.133333
92
0
92
0
[ -6.416015625, 107.138671875, 68.37890625, 17.314453125, -84.55078125, 18.850141525268555 ]
[ -5.361328125, 104.853515625, 62.40234375, 17.666015625, -84.462890625, 18.156423568725586 ]
6.2
93
0
93
0
[ -6.50390625, 108.10546875, 69.169921875, 17.314453125, -84.55078125, 18.850141525268555 ]
[ -5.361328125, 106.259765625, 63.896484375, 17.666015625, -84.462890625, 18.156423568725586 ]
6.266667
94
0
94
0
[ -6.50390625, 108.984375, 69.43359375, 17.314453125, -84.55078125, 18.755889892578125 ]
[ -5.361328125, 107.841796875, 64.86328125, 17.666015625, -84.462890625, 18.156423568725586 ]
6.333333
95
0
95
0
[ -6.416015625, 109.86328125, 69.43359375, 17.314453125, -84.55078125, 18.5673885345459 ]
[ -5.361328125, 108.720703125, 65.654296875, 17.666015625, -84.462890625, 18.156423568725586 ]
6.4
96
0
96
0
[ -6.328125, 110.7421875, 69.521484375, 17.2265625, -84.55078125, 18.4731388092041 ]
[ -5.361328125, 109.16015625, 66.005859375, 17.666015625, -84.462890625, 18.156423568725586 ]
6.466667
97
0
97
0
[ -6.240234375, 111.796875, 69.9609375, 17.2265625, -84.55078125, 18.4731388092041 ]
[ -5.361328125, 110.126953125, 66.26953125, 17.666015625, -84.462890625, 18.156423568725586 ]
6.533333
98
0
98
0
[ -6.240234375, 112.8515625, 70.48828125, 17.2265625, -84.55078125, 18.4731388092041 ]
[ -5.361328125, 111.005859375, 66.26953125, 17.666015625, -84.462890625, 18.156423568725586 ]
6.6
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": 32,
    "total_frames": 39293,
    "total_tasks": 1,
    "total_videos": 32,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:32"
    },
    "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": [
                6
            ],
            "names": [
                "shoulder_pan",
                "shoulder_lift",
                "elbow_flex",
                "wrist_flex",
                "wrist_roll",
                "gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan",
                "shoulder_lift",
                "elbow_flex",
                "wrist_flex",
                "wrist_roll",
                "gripper"
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                640,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 15.0,
                "video.height": 640,
                "video.width": 480,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "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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