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action
list | observation.state
list | timestamp
float32 0
7.37
| frame_index
int64 0
221
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int64 0
2
| index
int64 0
637
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int64 0
0
|
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "lekiwi_client",
"total_episodes": 3,
"total_frames": 638,
"total_tasks": 1,
"total_videos": 6,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
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},
"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": {
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"shape": [
9
],
"names": [
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"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": [
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"arm_shoulder_lift.pos",
"arm_elbow_flex.pos",
"arm_wrist_flex.pos",
"arm_wrist_roll.pos",
"arm_gripper.pos",
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},
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
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],
"info": {
"video.height": 480,
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"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
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"has_audio": false
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},
"observation.images.wrist": {
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640,
480,
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},
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}
}
}
Citation
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