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action
sequence
observation.state
sequence
timestamp
float32
0
28.3
frame_index
int64
0
283
episode_index
int64
0
8
index
int64
0
2.53k
task_index
int64
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7.3
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7.4
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7.5
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7.7
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7.8
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7.9
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8.2
82
0
82
0
[ -17.651403427124023, -99.31153106689453, 80.45454406738281, 37.33552551269531, 42.515262603759766, 13.624678611755371, 0.10000000149011612, 0, 0 ]
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8.3
83
0
83
0
[ -18.16839027404785, -99.31153106689453, 80.81818389892578, 37.5, 42.80830383300781, 14.13881778717041, 0, 0, 0 ]
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8.4
84
0
84
0
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8.5
85
0
85
0
[ -17.208271026611328, -99.31153106689453, 79.63636016845703, 36.67763137817383, 42.41758346557617, 11.953727722167969, 0, 0, 0 ]
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8.6
86
0
86
0
[ -19.8670597076416, -99.31153106689453, 83.09091186523438, 34.62171173095703, 42.905982971191406, 14.13881778717041, 0.10000000149011612, 0, 0 ]
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8.7
87
0
87
0
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[ 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
8.8
88
0
88
0
[ -18.16839027404785, -99.31153106689453, 80.81818389892578, 37.5, 42.80830383300781, 14.13881778717041, 0, 0, 0 ]
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8.9
89
0
89
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9
90
0
90
0
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[ 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
9.1
91
0
91
0
[ -19.8670597076416, -99.31153106689453, 83.09091186523438, 34.62171173095703, 42.905982971191406, 14.13881778717041, 0.10000000149011612, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
9.2
92
0
92
0
[ -19.940916061401367, -99.31153106689453, 83.36363983154297, 34.53947448730469, 42.85714340209961, 14.010282516479492, 0, 0, 0 ]
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9.3
93
0
93
0
[ -21.49187660217285, -99.13941192626953, 83.36363983154297, 33.63486862182617, 43.39438247680664, 16.32390785217285, 0, 0.10000000149011612, 0 ]
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9.4
94
0
94
0
[ -21.49187660217285, -99.31153106689453, 83.54545593261719, 33.63486862182617, 43.29670333862305, 15.938302993774414, 0, 0.10000000149011612, 0 ]
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9.5
95
0
95
0
[ -21.270309448242188, -99.31153106689453, 83.63636016845703, 33.96381759643555, 43.24786376953125, 15.809768676757812, 0, 0.10000000149011612, 0 ]
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9.6
96
0
96
0
[ -20.1624813079834, -99.39759063720703, 83.2727279663086, 34.375, 43.19902420043945, 15.681234359741211, 0, 0, 0 ]
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9.7
97
0
97
0
[ -19.05465316772461, -99.39759063720703, 83.09091186523438, 34.292762756347656, 43.44322204589844, 15.938302993774414, 0, 0, 0 ]
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9.8
98
0
98
0
[ -21.49187660217285, -99.31153106689453, 83.54545593261719, 33.63486862182617, 43.29670333862305, 15.938302993774414, 0, 0.10000000149011612, 0 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
9.9
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_client",
    "total_episodes": 9,
    "total_frames": 2531,
    "total_tasks": 1,
    "total_videos": 27,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:9"
    },
    "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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            "names": [
                "arm_shoulder_pan.pos",
                "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": {
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            "names": [
                "arm_shoulder_pan.pos",
                "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.wrist": {
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        "observation.images.local": {
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        "episode_index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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