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float32
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7.73
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[ 10.572049140930176, -14.73729133605957, 57.5616569519043, 31.683958053588867, -6.8131866455078125, 32.068965911865234 ]
[ 3.80999755859375, -45.540008544921875, 10.793212890625, 4.260009765625, -49.3499755859375, 6.9696044921875, 39.48004150390625, 3.4200439453125, 9.3895263671875, -6.120002746582031, 48.720001220703125, 2.6136474609375, -50.100006103515625, -10.67999267578125, 0.04833984375 ]
2.9
87
0
87
0
[ 10.201096534729004, -16.03249168395996, 57.07139587402344, 31.104768753051758, -7.008546829223633, 25.359342575073242 ]
[ 10.572049140930176, -14.73729133605957, 57.5616569519043, 31.524341583251953, -6.862026691436768, 30.13793182373047 ]
[ 46.2599983215332, -68.19001007080078, -3.7266845703125, 66.66000366210938, -51.89996337890625, -19.408447265625, 64.98004150390625, 19.9200439453125, 7.9376220703125, -77.06999969482422, 118.77000427246094, -45.3023681640625, -48.600006103515625, -24.029998779296875, -2.3717041015625 ]
2.933333
88
0
88
0
[ 10.201096534729004, -16.203506469726562, 57.07139587402344, 31.104768753051758, -7.008546829223633, 24.435317993164062 ]
[ 10.572049140930176, -14.822725296020508, 57.5616569519043, 31.524341583251953, -6.910866737365723, 28.620689392089844 ]
[ 92.760009765625, -88.44001007080078, -10.2607421875, 129.05999755859375, -52.199951171875, -57.4024658203125, 84.9300537109375, 30.1199951171875, 14.95556640625, -145.17001342773438, 181.62001037597656, -82.08642578125, -50.25, -52.97999572753906, 1.5003662109375 ]
2.966667
89
0
89
0
[ 10.201096534729004, -16.289012908935547, 57.07139587402344, 31.104768753051758, -6.959706783294678, 24.229978561401367 ]
[ 10.572049140930176, -14.822725296020508, 57.5616569519043, 31.524341583251953, -6.910866737365723, 27.724138259887695 ]
[ 110.31001281738281, -113.4900131225586, -25.022705078125, 179.91000366210938, -69.5999755859375, -91.5244140625, 110.58001708984375, 38.52001953125, 25.6036376953125, -188.07000732421875, 235.62001037597656, -118.3863525390625, -62.25, -72.33000183105469, -1.6456298828125 ]
3
90
0
90
0
[ 10.201096534729004, -16.460025787353516, 57.07139587402344, 31.104768753051758, -6.910866737365723, 24.127309799194336 ]
[ 10.572049140930176, -14.822725296020508, 57.468589782714844, 31.524341583251953, -6.910866737365723, 27.172412872314453 ]
[ 126.81001281738281, -140.49002075195312, -26.2327880859375, 212.6099853515625, -89.39996337890625, -111.368408203125, 140.280029296875, 32.07000732421875, 39.6395263671875, -202.01998901367188, 289.6200256347656, -137.50439453125, -73.5, -80.27999877929688, -4.5496826171875 ]
3.033333
91
0
91
0
[ 10.274223327636719, -16.5455322265625, 57.07139587402344, 31.104768753051758, -6.910866737365723, 23.81930160522461 ]
[ 10.572049140930176, -14.822725296020508, 57.468589782714844, 31.524341583251953, -6.910866737365723, 26.965517044067383 ]
[ 125.91000366210938, -146.6400146484375, -27.4427490234375, 221.6099853515625, -100.64996337890625, -116.6923828125, 160.6800537109375, 20.6700439453125, 52.9495849609375, -204.1199951171875, 319.02001953125, -147.910400390625, -76.95001220703125, -80.42999267578125, -0.193603515625 ]
3.066667
92
0
92
0
[ 10.274223327636719, -16.5455322265625, 57.07139587402344, 31.104768753051758, -6.862026691436768, 23.613962173461914 ]
[ 10.572049140930176, -14.822725296020508, 57.468589782714844, 31.524341583251953, -6.862026691436768, 26.89655113220215 ]
[ 130.11000061035156, -150.3900146484375, -32.5247802734375, 230.1600341796875, -103.949951171875, -118.62841796875, 165.6300048828125, 14.52001953125, 57.547607421875, -213.26998901367188, 324.27001953125, -135.0843505859375, -77.10000610351562, -84.47999572753906, -5.03369140625 ]
3.1
93
0
93
0
[ 10.347349166870117, -16.5455322265625, 57.07139587402344, 31.104768753051758, -7.057386875152588, 24.127309799194336 ]
[ 10.572049140930176, -14.822725296020508, 57.468589782714844, 31.524341583251953, -6.862026691436768, 26.89655113220215 ]
[ 129.8100128173828, -156.54000854492188, -32.5247802734375, 233.010009765625, -107.99993896484375, -129.7603759765625, 166.6800537109375, 10.02001953125, 54.8856201171875, -208.6199951171875, 335.2200012207031, -138.9564208984375, -81.30000305175781, -85.83000183105469, -6.001708984375 ]
3.133333
94
0
94
0
[ 10.274223327636719, -16.460025787353516, 57.07139587402344, 31.104768753051758, -7.741147518157959, 24.537986755371094 ]
[ 10.572049140930176, -14.822725296020508, 57.468589782714844, 31.524341583251953, -6.862026691436768, 26.89655113220215 ]
[ 131.760009765625, -163.1400146484375, -25.2647705078125, 229.55999755859375, -107.99993896484375, -133.1484375, 176.280029296875, 9.72003173828125, 58.9996337890625, -216.42001342773438, 333.57000732421875, -135.326416015625, -86.85000610351562, -82.08000183105469, -11.32568359375 ]
3.166667
95
0
95
0
[ 10.274223327636719, -17.315092086791992, 57.07139587402344, 31.104768753051758, -7.936507701873779, 24.537986755371094 ]
[ 10.572049140930176, -14.908159255981445, 57.468589782714844, 31.524341583251953, -6.862026691436768, 26.89655113220215 ]
[ 126.510009765625, -156.3900146484375, -33.9766845703125, 237.80999755859375, -112.79998779296875, -125.888427734375, 176.280029296875, 3.27001953125, 69.8895263671875, -217.17001342773438, 340.1700134277344, -131.21240234375, -89.85000610351562, -82.83000183105469, -9.6317138671875 ]
3.2
96
0
96
0
[ 10.127970695495605, -19.53826332092285, 57.2532958984375, 31.104768753051758, -8.083027839660645, 24.537986755371094 ]
[ 10.572049140930176, -14.908159255981445, 57.468589782714844, 31.524341583251953, -7.301587104797363, 26.89655113220215 ]
[ 127.56001281738281, -163.74002075195312, -31.07275390625, 235.71002197265625, -115.199951171875, -123.952392578125, 183.030029296875, 3.4200439453125, 73.0355224609375, -210.57000732421875, 340.77001953125, -136.7784423828125, -84, -77.27999877929688, -2.3717041015625 ]
3.233333
97
0
97
0
[ 9.835466384887695, -22.61650276184082, 57.2532958984375, 31.104768753051758, -8.131868362426758, 24.537986755371094 ]
[ 10.572049140930176, -15.164459228515625, 57.468589782714844, 31.524341583251953, -7.594627380371094, 26.89655113220215 ]
[ 125.010009765625, -158.94000244140625, -38.332763671875, 230.010009765625, -117.14996337890625, -120.564453125, 185.1300048828125, -0.02996826171875, 56.3375244140625, -209.07000732421875, 338.82000732421875, -134.116455078125, -82.80000305175781, -85.67999267578125, 6.098388671875 ]
3.266667
98
0
98
0
[ 9.616087913513184, -26.46430015563965, 57.2532958984375, 31.349369049072266, -7.692307472229004, 24.537986755371094 ]
[ 10.572049140930176, -16.018795013427734, 57.5616569519043, 31.524341583251953, -7.838827610015869, 26.89655113220215 ]
[ 115.71000671386719, -157.1400146484375, -34.460693359375, 211.71002197265625, -112.79998779296875, -115.240478515625, 169.83001708984375, -0.17999267578125, 64.08154296875, -197.07000732421875, 312.7200012207031, -122.742431640625, -81.45001220703125, -71.1300048828125, -2.855712890625 ]
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": "so100_wowskin",
    "total_episodes": 100,
    "total_frames": 18161,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:100"
    },
    "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",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.wowskin": {
            "dtype": "float32",
            "shape": [
                15
            ]
        },
        "observation.images.base": {
            "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
            }
        },
        "observation.images.wrist": {
            "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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