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float32
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28.7
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int64
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2.766667
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0
83
0
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2.8
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0
84
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2.833333
85
0
85
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2.866667
86
0
86
0
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2.9
87
0
87
0
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2.933333
88
0
88
0
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2.966667
89
0
89
0
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3
90
0
90
0
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3.033333
91
0
91
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3.066667
92
0
92
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3.1
93
0
93
0
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3.133333
94
0
94
0
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3.166667
95
0
95
0
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3.2
96
0
96
0
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3.233333
97
0
97
0
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3.266667
98
0
98
0
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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": 862,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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": [
                16
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            "names": [
                "arm_left_shoulder_pan.pos",
                "arm_left_shoulder_lift.pos",
                "arm_left_elbow_flex.pos",
                "arm_left_wrist_flex.pos",
                "arm_left_wrist_roll.pos",
                "arm_left_gripper.pos",
                "arm_right_shoulder_pan.pos",
                "arm_right_shoulder_lift.pos",
                "arm_right_elbow_flex.pos",
                "arm_right_wrist_flex.pos",
                "arm_right_wrist_roll.pos",
                "arm_right_gripper.pos",
                "x.vel",
                "y.vel",
                "theta.vel",
                "lift_axis.height_mm"
            ]
        },
        "observation.state": {
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            "shape": [
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            "names": [
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                "arm_left_shoulder_lift.pos",
                "arm_left_elbow_flex.pos",
                "arm_left_wrist_flex.pos",
                "arm_left_wrist_roll.pos",
                "arm_left_gripper.pos",
                "arm_right_shoulder_pan.pos",
                "arm_right_shoulder_lift.pos",
                "arm_right_elbow_flex.pos",
                "arm_right_wrist_flex.pos",
                "arm_right_wrist_roll.pos",
                "arm_right_gripper.pos",
                "x.vel",
                "y.vel",
                "theta.vel",
                "lift_axis.height_mm"
            ]
        },
        "observation.images.head_top": {
            "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
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        },
        "observation.images.wrist_right": {
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            "shape": [
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            "names": [
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            "info": {
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                "has_audio": false
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        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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