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sequence
observation.state
sequence
timestamp
float32
0
8.37
frame_index
int64
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251
episode_index
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[ 0.087890625, 177.01171875, 180, 22.939453125, 4.482421875, 103.271484375, 10.303030014038086, 0, 0, 0 ]
1.966667
59
0
59
0
[ -1.142578125, 179.12109375, 176.66015625, 21.97265625, 3.779296875, 102.744140625, 12.882787704467773, 0, 0, 0 ]
[ 0.087890625, 177.01171875, 179.736328125, 22.939453125, 3.603515625, 103.18359375, 10.707070350646973, 0, 0, 0 ]
2
60
0
60
0
[ -1.40625, 179.12109375, 175.25390625, 22.060546875, 3.779296875, 101.953125, 12.882787704467773, 0, 0, 0 ]
[ 0.087890625, 177.01171875, 179.6484375, 22.939453125, 3.33984375, 103.18359375, 10.707070350646973, 0, 0, 0 ]
2.033333
61
0
61
0
[ -1.494140625, 179.12109375, 173.232421875, 23.37890625, 3.779296875, 101.07421875, 13.09398078918457, 0, 0, 0 ]
[ 0.087890625, 177.01171875, 179.12109375, 22.939453125, 3.251953125, 103.18359375, 10.707070350646973, 0, 0, 0 ]
2.066667
62
0
62
0
[ -1.7578125, 179.12109375, 170.5078125, 26.103515625, 3.779296875, 99.4921875, 13.09398078918457, 0, 0, 0 ]
[ -0.087890625, 177.01171875, 178.681640625, 22.939453125, 3.251953125, 102.744140625, 10.707070350646973, 0, 0, 0 ]
2.1
63
0
63
0
[ -2.548828125, 179.12109375, 166.376953125, 30.05859375, 3.779296875, 96.50390625, 13.09398078918457, 0, 0, 0 ]
[ -0.3515625, 177.01171875, 178.505859375, 22.939453125, 3.251953125, 101.953125, 10.909090995788574, 0, 0, 0 ]
2.133333
64
0
64
0
[ -2.724609375, 179.033203125, 164.35546875, 31.640625, 3.779296875, 95.09765625, 13.09398078918457, 0, 0, 0 ]
[ -0.52734375, 177.01171875, 178.06640625, 23.115234375, 3.251953125, 101.42578125, 11.313131332397461, 0, 0, 0 ]
2.166667
65
0
65
0
[ -2.63671875, 179.033203125, 162.94921875, 32.6953125, 3.779296875, 94.39453125, 13.09398078918457, 0, 0, 0 ]
[ -0.615234375, 177.01171875, 177.099609375, 24.08203125, 3.251953125, 100.546875, 11.717171669006348, 0, 0, 0 ]
2.2
66
0
66
0
[ -2.109375, 179.033203125, 160.400390625, 35.15625, 3.779296875, 92.28515625, 13.09398078918457, 0, 0, 0 ]
[ -0.966796875, 177.01171875, 174.375, 26.982421875, 3.1640625, 98.173828125, 11.91919231414795, 0, 0, 0 ]
2.233333
67
0
67
0
[ -1.58203125, 179.033203125, 158.994140625, 36.826171875, 3.779296875, 91.142578125, 13.09398078918457, 0, 0, 0 ]
[ -1.23046875, 177.01171875, 172.529296875, 28.916015625, 3.1640625, 96.6796875, 11.91919231414795, 0, 0, 0 ]
2.266667
68
0
68
0
[ -0.791015625, 178.9453125, 157.939453125, 38.3203125, 3.779296875, 90, 13.09398078918457, 0, 0, 0 ]
[ -1.40625, 177.01171875, 169.98046875, 30.9375, 3.1640625, 95.185546875, 11.91919231414795, 0, 0, 0 ]
2.3
69
0
69
0
[ 0.3515625, 178.9453125, 157.32421875, 39.462890625, 3.779296875, 88.76953125, 13.09398078918457, 0, 0, 0 ]
[ -1.494140625, 177.01171875, 167.51953125, 32.87109375, 3.1640625, 93.69140625, 11.91919231414795, 0, 0, 0 ]
2.333333
70
0
70
0
[ 2.021484375, 178.9453125, 156.97265625, 40.517578125, 3.779296875, 86.923828125, 13.09398078918457, 0, 0, 0 ]
[ -1.494140625, 177.01171875, 164.970703125, 34.365234375, 3.1640625, 92.28515625, 11.91919231414795, 0, 0, 0 ]
2.366667
71
0
71
0
[ 3.33984375, 178.9453125, 156.796875, 41.044921875, 3.779296875, 85.341796875, 13.09398078918457, 0, 0, 0 ]
[ -1.318359375, 177.01171875, 162.94921875, 35.859375, 3.1640625, 90.966796875, 11.91919231414795, 0, 0, 0 ]
2.4
72
0
72
0
[ 5.625, 178.9453125, 156.708984375, 41.220703125, 3.779296875, 82.79296875, 13.09398078918457, 0, 0, 0 ]
[ -0.791015625, 177.099609375, 161.455078125, 37.353515625, 3.076171875, 89.560546875, 11.91919231414795, 0, 0, 0 ]
2.433333
73
0
73
0
[ 8.525390625, 178.9453125, 156.708984375, 41.484375, 3.779296875, 79.013671875, 12.988384246826172, 0, 0, 0 ]
[ 0.439453125, 177.099609375, 160.48828125, 39.287109375, 3.076171875, 87.451171875, 11.91919231414795, 0, 0, 0 ]
2.466667
74
0
74
0
[ 10.283203125, 178.9453125, 156.708984375, 41.572265625, 3.779296875, 76.2890625, 12.988384246826172, 0, 0, 0 ]
[ 1.58203125, 177.099609375, 160.48828125, 40.517578125, 3.076171875, 86.044921875, 11.91919231414795, 0, 0, 0 ]
2.5
75
0
75
0
[ 12.041015625, 179.033203125, 156.708984375, 41.572265625, 3.779296875, 73.388671875, 12.882787704467773, 0, 0, 0 ]
[ 3.955078125, 177.099609375, 160.48828125, 41.044921875, 3.076171875, 82.96875, 11.91919231414795, 0, 0, 0 ]
2.533333
76
0
76
0
[ 13.0078125, 179.033203125, 156.708984375, 41.572265625, 3.779296875, 71.103515625, 12.882787704467773, 0, 0, 0 ]
[ 5.361328125, 177.099609375, 160.48828125, 41.044921875, 3.076171875, 81.38671875, 11.91919231414795, 0, 0, 0 ]
2.566667
77
0
77
0
[ 13.359375, 179.033203125, 156.708984375, 41.572265625, 3.779296875, 70.400390625, 12.882787704467773, 0, 0, 0 ]
[ 7.294921875, 177.099609375, 160.48828125, 41.044921875, 3.076171875, 78.92578125, 11.91919231414795, 0, 0, 0 ]
2.6
78
0
78
0
[ 13.359375, 179.033203125, 156.796875, 41.572265625, 3.515625, 70.927734375, 12.882787704467773, 0, 0, 0 ]
[ 9.4921875, 177.099609375, 160.48828125, 41.044921875, 3.076171875, 76.025390625, 11.91919231414795, 0, 0, 0 ]
2.633333
79
0
79
0
[ 13.18359375, 179.033203125, 156.97265625, 41.572265625, 3.076171875, 72.158203125, 12.882787704467773, 0, 0, 0 ]
[ 11.337890625, 177.099609375, 160.48828125, 41.044921875, 3.076171875, 73.388671875, 11.91919231414795, 0, 0, 0 ]
2.666667
80
0
80
0
[ 12.919921875, 179.033203125, 157.32421875, 41.572265625, 0.615234375, 76.46484375, 12.882787704467773, 0, 0, 0 ]
[ 12.919921875, 177.099609375, 160.48828125, 41.044921875, 3.1640625, 70.751953125, 11.91919231414795, 0, 0, 0 ]
2.7
81
0
81
0
[ 11.689453125, 179.033203125, 157.412109375, 41.572265625, -2.197265625, 81.9140625, 12.882787704467773, 0, 0, 0 ]
[ 12.919921875, 177.099609375, 160.48828125, 41.044921875, 3.1640625, 71.015625, 11.91919231414795, 0, 0, 0 ]
2.733333
82
0
82
0
[ 10.1953125, 179.033203125, 157.5, 41.572265625, -2.373046875, 85.341796875, 12.882787704467773, 0, 0, 0 ]
[ 12.919921875, 177.099609375, 160.48828125, 41.044921875, 3.076171875, 71.54296875, 11.91919231414795, 0, 0, 0 ]
2.766667
83
0
83
0
[ 7.470703125, 179.033203125, 157.763671875, 41.484375, -2.373046875, 90.703125, 12.882787704467773, 0, 0, 0 ]
[ 12.392578125, 177.099609375, 160.48828125, 41.044921875, 1.0546875, 74.619140625, 11.91919231414795, 0, 0, 0 ]
2.8
84
0
84
0
[ 6.591796875, 179.12109375, 157.8515625, 41.484375, -2.373046875, 93.779296875, 12.882787704467773, 0, 0, 0 ]
[ 11.77734375, 177.099609375, 160.400390625, 41.044921875, -0.17578125, 77.16796875, 11.91919231414795, 0, 0, 0 ]
2.833333
85
0
85
0
[ 5.537109375, 179.12109375, 157.939453125, 41.484375, -2.373046875, 96.6796875, 12.988384246826172, 0, 0, 0 ]
[ 10.986328125, 177.099609375, 160.400390625, 41.044921875, -1.0546875, 80.595703125, 11.91919231414795, 0, 0, 0 ]
2.866667
86
0
86
0
[ 4.658203125, 179.12109375, 157.939453125, 41.396484375, -2.373046875, 98.7890625, 13.621964454650879, 0, 0, 0 ]
[ 9.66796875, 177.099609375, 160.400390625, 41.044921875, -1.494140625, 84.55078125, 11.91919231414795, 0, 0, 0 ]
2.9
87
0
87
0
[ 4.39453125, 179.12109375, 158.02734375, 41.396484375, -2.373046875, 100.986328125, 14.572333335876465, 0, 0, 0 ]
[ 6.85546875, 177.099609375, 160.400390625, 41.044921875, -1.669921875, 91.318359375, 11.91919231414795, 0, 0, 0 ]
2.933333
88
0
88
0
[ 4.482421875, 179.12109375, 158.115234375, 41.396484375, -2.373046875, 102.12890625, 15.205913543701172, 0, 0, 0 ]
[ 5.888671875, 177.099609375, 160.400390625, 41.044921875, -1.669921875, 93.515625, 11.91919231414795, 0, 0, 0 ]
2.966667
89
0
89
0
[ 5.361328125, 179.12109375, 158.37890625, 41.396484375, -2.28515625, 103.0078125, 15.839492797851562, 0, 0, 0 ]
[ 5.009765625, 177.099609375, 160.400390625, 41.044921875, -1.669921875, 95.888671875, 11.91919231414795, 0, 0, 0 ]
3
90
0
90
0
[ 6.240234375, 179.12109375, 158.5546875, 41.396484375, -2.197265625, 102.744140625, 16.156282424926758, 0, 0, 0 ]
[ 4.482421875, 177.099609375, 160.400390625, 41.044921875, -1.669921875, 98.173828125, 12.121212005615234, 0, 0, 0 ]
3.033333
91
0
91
0
[ 7.3828125, 179.12109375, 158.73046875, 41.396484375, -2.197265625, 101.865234375, 16.473072052001953, 0, 0, 0 ]
[ 4.306640625, 177.099609375, 160.400390625, 41.044921875, -1.7578125, 100.1953125, 13.13131332397461, 0, 0, 0 ]
3.066667
92
0
92
0
[ 8.61328125, 179.12109375, 159.08203125, 41.396484375, -2.197265625, 100.8984375, 16.57866859436035, 0, 0, 0 ]
[ 4.306640625, 177.099609375, 160.400390625, 41.044921875, -1.7578125, 101.42578125, 13.535353660583496, 0, 0, 0 ]
3.1
93
0
93
0
[ 10.01953125, 179.12109375, 159.169921875, 41.396484375, -1.93359375, 97.822265625, 16.57866859436035, 0, 0, 0 ]
[ 4.306640625, 177.099609375, 160.400390625, 41.044921875, -1.7578125, 102.216796875, 14.141413688659668, 0, 0, 0 ]
3.133333
94
0
94
0
[ 11.953125, 179.12109375, 159.2578125, 41.30859375, -1.845703125, 92.8125, 16.57866859436035, 0, 0, 0 ]
[ 5.625, 177.099609375, 160.400390625, 41.044921875, -2.109375, 101.6015625, 14.747474670410156, -2.5566346645355225, 4.916313162948744e-16, 0.5859375 ]
3.166667
95
0
95
0
[ 13.53515625, 179.12109375, 159.609375, 41.30859375, -1.7578125, 87.71484375, 16.57866859436035, 0, 0, 0 ]
[ 6.767578125, 177.099609375, 160.400390625, 41.044921875, -2.197265625, 100.72265625, 14.747474670410156, 0, 0, 0 ]
3.2
96
0
96
0
[ 14.58984375, 179.12109375, 160.400390625, 41.30859375, -1.7578125, 83.583984375, 16.156282424926758, 0, 0, 0 ]
[ 9.580078125, 177.099609375, 160.48828125, 41.044921875, -1.494140625, 96.591796875, 14.747474670410156, 0, 0, 0 ]
3.233333
97
0
97
0
[ 15.1171875, 179.12109375, 161.015625, 41.044921875, -1.7578125, 81.123046875, 15.945089340209961, 0, 0, 0 ]
[ 10.72265625, 177.099609375, 160.48828125, 41.044921875, -1.23046875, 94.04296875, 14.747474670410156, 0, 0, 0 ]
3.266667
98
0
98
0
[ 15.380859375, 179.12109375, 161.630859375, 40.4296875, -1.7578125, 78.837890625, 15.839492797851562, 0, 0, 0 ]
[ 11.6015625, 177.099609375, 160.48828125, 41.044921875, -1.142578125, 91.142578125, 14.747474670410156, 0, 0, 0 ]
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": 2,
    "total_frames": 417,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": [
                10
            ],
            "names": [
                "shoulder_pan",
                "shoulder_lift",
                "elbow_flex",
                "wrist_flex",
                "wrist_roll",
                "wrist_angle",
                "gripper",
                "x_mm",
                "y_mm",
                "theta"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                10
            ],
            "names": [
                "shoulder_pan",
                "shoulder_lift",
                "elbow_flex",
                "wrist_flex",
                "wrist_roll",
                "wrist_angle",
                "gripper",
                "x_mm",
                "y_mm",
                "theta"
            ]
        },
        "observation.images.L_OverheadCamera": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "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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