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float32
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14.2
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int64
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[ -26.550004959106445, -17.48999786376953, 1.016357421875, -16.410003662109375, -15.1800537109375, -9.2928466796875, 7.4100341796875, -28.16998291015625, -1.2584228515625, 28.43999481201172, 12.329998016357422, 16.2139892578125, -0.6299972534179688, 19.800018310546875, -16.1656494140625 ]
2.866667
86
0
86
0
[ -26.664215087890625, -97.3470230102539, 71.22039794921875, 59.26229476928711, -3.1501832008361816, 98.5670394897461 ]
[ -25.909591674804688, -96.67235565185547, 78.16999816894531, 59.726688385009766, -2.710622787475586, 97.72099304199219 ]
[ -26.850004196166992, -12.69000244140625, -11.32568359375, -17.459991455078125, -17.280029296875, -9.534912109375, 6.80999755859375, -25.6199951171875, -13.116455078125, 34.589996337890625, 16.529998779296875, 4.8399658203125, -12.029998779296875, 23.100006103515625, -14.713623046875 ]
2.9
87
0
87
0
[ -27.031997680664062, -97.3470230102539, 71.31147766113281, 59.180328369140625, -3.345543384552002, 98.5670394897461 ]
[ -26.056596755981445, -96.67235565185547, 78.16999816894531, 59.726688385009766, -2.710622787475586, 97.79005432128906 ]
[ -23.250003814697266, -12.69000244140625, 1.984375, -22.1099853515625, -14.4300537109375, -12.680908203125, 11.30999755859375, -20.819976806640625, -5.6143798828125, 43.13999938964844, 18.479999542236328, 4.35595703125, -13.379997253417969, 22.95001220703125, -13.0196533203125 ]
2.933333
88
0
88
0
[ -27.3997802734375, -96.40564727783203, 71.31147766113281, 58.11475372314453, -3.5897436141967773, 98.5670394897461 ]
[ -26.35060691833496, -96.67235565185547, 78.16999816894531, 59.726688385009766, -2.9059829711914062, 97.85911560058594 ]
[ -20.550003051757812, -12.389999389648438, -11.8096923828125, -15.959991455078125, -11.58001708984375, -6.1468505859375, 2.61004638671875, -22.16998291015625, -13.116455078125, 40.88999938964844, 15.329998016357422, -1.93603515625, -7.8300018310546875, 21.300018310546875, -7.45361328125 ]
2.966667
89
0
89
0
[ -27.62044906616211, -94.35173034667969, 71.31147766113281, 55.73770523071289, -3.7362637519836426, 98.5670394897461 ]
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[ -22.20000457763672, -10.590003967285156, -1.16162109375, -16.410003662109375, -15.1800537109375, -6.388916015625, 9.510009765625, -21.8699951171875, -12.1484375, 35.339996337890625, 10.229999542236328, 9.1959228515625, -10.379997253417969, 27.149993896484375, -17.859619140625 ]
3
90
0
90
0
[ -27.914674758911133, -91.1852798461914, 71.22039794921875, 52.540985107421875, -3.980463981628418, 98.5670394897461 ]
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3.033333
91
0
91
0
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[ -27.379640579223633, -96.16040802001953, 78.16999816894531, 58.27974319458008, -3.5897436141967773, 97.92817687988281 ]
[ -23.40000343322754, -12.840003967285156, -7.211669921875, -16.410003662109375, -8.73004150390625, -13.4068603515625, 6.6600341796875, -25.6199951171875, -2.4683837890625, 34.13999938964844, 17.43000030517578, 3.14599609375, -3.779998779296875, 18.899993896484375, -7.45361328125 ]
3.066667
92
0
92
0
[ -29.018020629882812, -84.42447662353516, 71.03825378417969, 45.98360824584961, -4.810744762420654, 98.5670394897461 ]
[ -27.526643753051758, -94.70989990234375, 78.16999816894531, 56.430870056152344, -3.7362637519836426, 97.92817687988281 ]
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3.1
93
0
93
0
[ -29.532917022705078, -81.42918395996094, 71.03825378417969, 43.03278732299805, -5.15262508392334, 98.5670394897461 ]
[ -28.041160583496094, -91.38225555419922, 78.16999816894531, 53.135047912597656, -4.224664211273193, 97.92817687988281 ]
[ -17.400005340576172, -6.989997863769531, 5.8563232421875, -13.410003662109375, -13.530029296875, -4.69482421875, 6.21002197265625, -28.16998291015625, -7.79248046875, 42.38999938964844, 17.579998016357422, 3.8719482421875, -6.329994201660156, 24.899993896484375, -14.713623046875 ]
3.133333
94
0
94
0
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[ -28.55567741394043, -88.05461120605469, 78.16999816894531, 50.160770416259766, -4.517704486846924, 97.92817687988281 ]
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3.166667
95
0
95
0
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[ -29.070194244384766, -85.0682601928711, 78.16999816894531, 47.02572250366211, -4.810744762420654, 97.92817687988281 ]
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3.2
96
0
96
0
[ -30.562705993652344, -73.64141845703125, 71.31147766113281, 36.22950744628906, -5.787545680999756, 98.5670394897461 ]
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[ -25.20000457763672, -22.139999389648438, -8.9056396484375, -20.009979248046875, -17.1300048828125, -9.77685546875, 10.11004638671875, -19.16998291015625, -2.2264404296875, 30.389999389648438, 19.229999542236328, 5.8079833984375, -9.930000305175781, 21.149993896484375, -9.631591796875 ]
3.233333
97
0
97
0
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[ -29.95222282409668, -79.1808853149414, 78.16999816894531, 41.398712158203125, -5.494505405426025, 97.92817687988281 ]
[ -24.750003814697266, -17.48999786376953, -4.065673828125, -19.55999755859375, -18.030029296875, -3.726806640625, 3.21002197265625, -25.91998291015625, -10.4544677734375, 25.290000915527344, 14.430000305175781, 0.241943359375, -12.479995727539062, 22.95001220703125, -14.4716796875 ]
3.266667
98
0
98
0
[ -31.004045486450195, -67.82199096679688, 71.49362182617188, 30.901639938354492, -6.1782660484313965, 98.5670394897461 ]
[ -30.246232986450195, -76.62116241455078, 78.26288604736328, 39.06752395629883, -5.5921854972839355, 97.92817687988281 ]
[ -14.85000228881836, -13.889999389648438, -3.82373046875, -18.80999755859375, -10.98004150390625, -7.1148681640625, 2.760009765625, -28.019989013671875, -4.646484375, 34.88999938964844, 19.079998016357422, 5.323974609375, -10.080001831054688, 21, -11.0836181640625 ]
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": 101,
    "total_frames": 37232,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:101"
    },
    "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
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        },
        "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": [
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                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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                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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