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float32
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20.9
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int64
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626
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[ -6.150001525878906, -27.240005493164062, 16.697998046875, 1.71002197265625, -38.72998046875, 4.985107421875, 31.8900146484375, -10.88995361328125, -1.8875732421875, 15.779998779296875, 40.05000305175781, 6.1468505859375, -30.270004272460938, 3.1500091552734375, 10.8414306640625 ]
2.866667
86
0
86
0
[ 9.616087913513184, -17.144079208374023, 76.5347900390625, -0.8560945987701416, -7.936507701873779, 91.47843933105469 ]
[ 8.544532775878906, -17.04399871826172, 77.01256561279297, 0.07980845868587494, -7.692307472229004, 94.3448257446289 ]
[ 3.9000015258789062, -31.889999389648438, 4.840087890625, 0.360015869140625, -39.47998046875, 9.5831298828125, 28.44000244140625, -2.78997802734375, 12.1484375, 15.330001831054688, 33.900001525878906, -0.8712158203125, -32.220001220703125, 6.45001220703125, 6.4854736328125 ]
2.9
87
0
87
0
[ 9.689213752746582, -17.144079208374023, 76.5347900390625, -0.8560945987701416, -7.936507701873779, 90.04106903076172 ]
[ 8.83417797088623, -17.04399871826172, 77.01256561279297, 0.07980845868587494, -7.789987564086914, 94.20689392089844 ]
[ -10.5, -36.38999938964844, 7.260009765625, -0.839996337890625, -37.97998046875, 12.2451171875, 32.3399658203125, -11.3399658203125, 6.824462890625, 7.9799957275390625, 31.950002670288086, -7.4051513671875, -35.52000427246094, 4.800018310546875, 5.7593994140625 ]
2.933333
88
0
88
0
[ 9.689213752746582, -17.144079208374023, 76.5347900390625, -0.8560945987701416, -7.887667655944824, 88.50102996826172 ]
[ 8.97900104522705, -17.04399871826172, 77.01256561279297, 0.07980845868587494, -7.887667655944824, 94.06896209716797 ]
[ -16.349998474121094, -33.24000549316406, 5.3240966796875, 3.80999755859375, -37.67999267578125, 10.5511474609375, 29.19000244140625, 0.36004638671875, -0.6776123046875, 13.379989624023438, 37.95000457763672, -1.1131591796875, -35.220001220703125, 3.9000091552734375, 9.8734130859375 ]
2.966667
89
0
89
0
[ 9.689213752746582, -17.144079208374023, 76.5347900390625, -0.8560945987701416, -7.887667655944824, 87.16632080078125 ]
[ 9.123823165893555, -17.04399871826172, 77.01256561279297, 0.07980845868587494, -7.887667655944824, 92.62068939208984 ]
[ 0.15000152587890625, -32.339996337890625, 9.9219970703125, 2.160003662109375, -32.1300048828125, 9.09912109375, 27.8399658203125, -5.78997802734375, 9.244384765625, 19.37999725341797, 37.05000305175781, 7.5987548828125, -35.81999969482422, 9.600006103515625, 14.471435546875 ]
3
90
0
90
0
[ 9.542962074279785, -17.05857276916504, 76.5347900390625, -0.8560945987701416, -7.887667655944824, 85.31827545166016 ]
[ 9.123823165893555, -17.04399871826172, 77.01256561279297, 0.07980845868587494, -7.887667655944824, 91.10344696044922 ]
[ -6.4499969482421875, -28.589996337890625, 19.360107421875, -0.089996337890625, -35.72998046875, 11.277099609375, 24.0899658203125, -2.489990234375, 7.3084716796875, 11.879989624023438, 36.75, 12.6807861328125, -31.020004272460938, 6.7500152587890625, 1.4034423828125 ]
3.033333
91
0
91
0
[ 9.396709442138672, -17.05857276916504, 76.5347900390625, -0.8560945987701416, -7.887667655944824, 83.26488494873047 ]
[ 9.268646240234375, -17.04399871826172, 77.01256561279297, 0.07980845868587494, -7.887667655944824, 89.51724243164062 ]
[ -7.799995422363281, -35.78999328613281, 7.7440185546875, -6.239990234375, -34.3800048828125, 8.8570556640625, 30.3900146484375, -1.28997802734375, 9.4864501953125, 15.92999267578125, 34.95000457763672, 0.580810546875, -32.52000427246094, 4.050018310546875, 8.4215087890625 ]
3.066667
92
0
92
0
[ 9.323583602905273, -17.05857276916504, 76.5347900390625, -0.8560945987701416, -7.887667655944824, 80.69815063476562 ]
[ 9.268646240234375, -16.95856475830078, 77.01256561279297, 0.07980845868587494, -7.887667655944824, 88.06896209716797 ]
[ -5.400001525878906, -33.839996337890625, 18.8760986328125, 1.410003662109375, -39.6300048828125, 12.9710693359375, 29.94000244140625, -4.28997802734375, 0.0484619140625, 12.779998779296875, 37.5, 9.2928466796875, -28.920005798339844, 2.70001220703125, -3.6785888671875 ]
3.1
93
0
93
0
[ 9.250456809997559, -17.05857276916504, 76.5347900390625, -0.8560945987701416, -7.838827610015869, 78.43942260742188 ]
[ 9.268646240234375, -16.873130798339844, 77.01256561279297, 0.07980845868587494, -7.887667655944824, 86.13793182373047 ]
[ -4.650001525878906, -30.839996337890625, 3.8720703125, 3.360015869140625, -30.47998046875, 7.4051513671875, 31.1400146484375, -4.88995361328125, 7.5504150390625, 10.979995727539062, 33.900001525878906, 12.4388427734375, -37.170005798339844, 0.600006103515625, 5.033447265625 ]
3.133333
94
0
94
0
[ 9.250456809997559, -17.05857276916504, 76.5347900390625, -0.8560945987701416, -7.838827610015869, 76.59137725830078 ]
[ 9.268646240234375, -16.873130798339844, 77.01256561279297, 0.07980845868587494, -7.887667655944824, 84.13793182373047 ]
[ -6.150001525878906, -27.839996337890625, 7.986083984375, -1.739990234375, -33.92999267578125, 10.7930908203125, 32.03997802734375, 3.6600341796875, 9.7283935546875, 11.129989624023438, 34.349998474121094, 10.7447509765625, -35.52000427246094, -8.399993896484375, 11.5675048828125 ]
3.166667
95
0
95
0
[ 9.250456809997559, -17.05857276916504, 76.71669006347656, -0.8560945987701416, -7.741147518157959, 74.84599304199219 ]
[ 9.268646240234375, -16.873130798339844, 77.01256561279297, 0.07980845868587494, -7.887667655944824, 82.06896209716797 ]
[ -3.9000015258789062, -34.88999938964844, 21.5380859375, -2.639984130859375, -38.1300048828125, 3.049072265625, 28.8900146484375, 2.760009765625, 10.9384765625, 5.279998779296875, 39, 14.6168212890625, -36.720001220703125, -0.149993896484375, 1.4034423828125 ]
3.2
96
0
96
0
[ 9.17733097076416, -17.05857276916504, 76.89859008789062, -0.8560945987701416, -7.692307472229004, 73.51129150390625 ]
[ 9.268646240234375, -16.873130798339844, 77.01256561279297, 0.07980845868587494, -7.887667655944824, 79.6551742553711 ]
[ -1.1999969482421875, -39.089996337890625, 6.050048828125, 3.80999755859375, -30.02996826171875, 12.487060546875, 30.69000244140625, 0.06005859375, 6.098388671875, 10.229995727539062, 37.05000305175781, 3.726806640625, -28.62000274658203, -3.899993896484375, 7.9375 ]
3.233333
97
0
97
0
[ 9.104205131530762, -17.05857276916504, 77.35334014892578, -0.8560945987701416, -7.643467426300049, 72.27925872802734 ]
[ 9.268646240234375, -16.873130798339844, 77.01256561279297, 0.07980845868587494, -7.887667655944824, 77.79310607910156 ]
[ -0.15000152587890625, -28.889999389648438, 18.39208984375, -4.589996337890625, -36.17999267578125, 4.985107421875, 30.3900146484375, 1.11004638671875, 2.2264404296875, 12.629989624023438, 33.45000457763672, 3.4847412109375, -39.12001037597656, -3.449981689453125, 7.9375 ]
3.266667
98
0
98
0
[ 9.104205131530762, -17.144079208374023, 77.80809783935547, -0.8560945987701416, -7.545787334442139, 71.2525634765625 ]
[ 9.268646240234375, -16.873130798339844, 77.10562896728516, 0.07980845868587494, -7.838827610015869, 75.86206817626953 ]
[ -6.599998474121094, -33.839996337890625, 10.406005859375, -6.389984130859375, -37.52996826171875, 12.9710693359375, 20.19000244140625, -7.5899658203125, 1.2584228515625, 11.129989624023438, 34.95000457763672, 3.2427978515625, -27.420005798339844, 2.70001220703125, 6.969482421875 ]
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": 45670,
    "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
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            "names": null
        },
        "frame_index": {
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            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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