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float32
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59.8
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1.79k
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[ 1.3876843452453613, -43.05555725097656, 89.30729675292969, 18.782127380371094, -1.1477411985397339, 98.190673828125 ]
[ -17.34000015258789, -13.080001831054688, 6.824462890625, -13.260009765625, -17.72998046875, 9.6314697265625, 7.50006103515625, -18.21002197265625, 10.4058837890625, 20.06999969482422, 29.670001983642578, 16.0687255859375, -4.680000305175781, 21.69000244140625, 2.226318359375 ]
2.9
87
0
87
0
[ 1.013047218322754, -41.31648254394531, 89.24732208251953, 17.62387466430664, -1.3751533031463623, 95.81367492675781 ]
[ 1.3876843452453613, -42.70833206176758, 89.30729675292969, 18.465797424316406, -1.1477411985397339, 98.190673828125 ]
[ -20.040000915527344, -20.43000030517578, 10.4544677734375, -14.010009765625, -13.67999267578125, 14.7135009765625, 16.35003662109375, -22.560028076171875, 4.597900390625, 22.020004272460938, 27.56999969482422, 14.8587646484375, -11.129997253417969, 12.990020751953125, 6.34033203125 ]
2.933333
88
0
88
0
[ 0.99346923828125, -41.10448455810547, 89.17433166503906, 17.593830108642578, -1.3895728588104248, 95.15147399902344 ]
[ 1.3876843452453613, -42.27430725097656, 89.30729675292969, 18.228548049926758, -1.1477411985397339, 97.77313995361328 ]
[ -16.740001678466797, -16.229995727539062, 6.098388671875, -13.410003662109375, -11.1300048828125, 2.1295166015625, 5.25006103515625, -21.96002197265625, 15.2459716796875, 22.62000274658203, 29.06999969482422, 20.90869140625, -4.529998779296875, 16.1400146484375, 10.454345703125 ]
2.966667
89
0
89
0
[ 0.9016265869140625, -40.73798370361328, 89.26602935791016, 17.491710662841797, -1.4338334798812866, 92.88105773925781 ]
[ 1.3876843452453613, -41.92708206176758, 89.30729675292969, 17.91221809387207, -1.196581244468689, 96.93806457519531 ]
[ -27.540000915527344, -4.0800018310546875, 7.7923583984375, -23.459991455078125, -16.08001708984375, 5.5174560546875, 13.800048828125, -17.760040283203125, 12.0999755859375, 19.170005798339844, 24.56999969482422, 7.5987548828125, -4.529998779296875, 11.339996337890625, 2.4683837890625 ]
3
90
0
90
0
[ 0.9757547378540039, -40.287208557128906, 89.32805633544922, 17.2193660736084, -1.4432861804962158, 89.97244262695312 ]
[ 1.3876843452453613, -41.84027862548828, 89.30729675292969, 17.91221809387207, -1.2942613363265991, 96.10298919677734 ]
[ -20.490001678466797, -17.729995727539062, 18.1983642578125, -13.709991455078125, -10.08001708984375, 7.4534912109375, 10.50006103515625, -33.810028076171875, 7.2598876953125, 22.920005798339844, 24.420001983642578, 17.2786865234375, -8.580001831054688, 12.839996337890625, 9.7283935546875...
3.033333
91
0
91
0
[ 0.8651037216186523, -40.115997314453125, 89.40908813476562, 17.173736572265625, -1.4458813667297363, 88.88771057128906 ]
[ 1.3876843452453613, -41.84027862548828, 89.30729675292969, 17.8331356048584, -1.2942613363265991, 94.91997528076172 ]
[ -12.240001678466797, -18.93000030517578, 12.8743896484375, -12.959991455078125, -15.17999267578125, 17.8594970703125, 9.4500732421875, -22.560028076171875, 14.5198974609375, 19.31999969482422, 22.920001983642578, 19.2147216796875, -12.180000305175781, 15.540008544921875, 8.5184326171875 ...
3.066667
92
0
92
0
[ 0.8431100845336914, -39.99787139892578, 89.42366790771484, 17.024307250976562, -1.4640591144561768, 86.45693969726562 ]
[ 1.2142237424850464, -41.40625, 89.30729675292969, 17.754053115844727, -1.3431013822555542, 92.27557373046875 ]
[ -20.639999389648438, -18.329994201660156, 16.7464599609375, -8.760009765625, -14.280029296875, 7.695556640625, 10.050048828125, -24.060028076171875, 12.3419189453125, 22.920005798339844, 24.420001983642578, 6.388671875, -7.9799957275390625, 15.540008544921875, 10.9383544921875 ]
3.1
93
0
93
0
[ 0.7968473434448242, -39.83033752441406, 89.45331573486328, 17.124095916748047, -1.488842248916626, 85.22994232177734 ]
[ 1.2142237424850464, -41.05902862548828, 89.30729675292969, 17.12139129638672, -1.3919414281845093, 90.7446060180664 ]
[ -18.540000915527344, -15.629997253417969, 11.6644287109375, -11.6099853515625, -16.3800048828125, 3.3394775390625, 5.550048828125, -23.1600341796875, 12.0999755859375, 23.220001220703125, 28.170001983642578, 5.4207763671875, -9.180000305175781, 4.290008544921875, 7.06640625 ]
3.133333
94
0
94
0
[ 0.6707143783569336, -39.50009536743164, 89.39505767822266, 17.030885696411133, -1.508138656616211, 83.31011962890625 ]
[ 1.2142237424850464, -40.625, 89.30729675292969, 16.567813873291016, -1.3919414281845093, 88.86569213867188 ]
[ -21.389999389648438, -13.379997253417969, 15.7784423828125, -13.260009765625, -15.6300048828125, 9.6314697265625, 11.550048828125, -22.860015869140625, 16.2139892578125, 23.970001220703125, 27.420001983642578, 19.69873046875, -12.930000305175781, 12.990020751953125, 1.742431640625 ]
3.166667
95
0
95
0
[ 0.7005195617675781, -39.29285430908203, 89.4808349609375, 16.90811538696289, -1.526977777481079, 81.4798355102539 ]
[ 1.2142237424850464, -40.53819274902344, 89.30729675292969, 16.567813873291016, -1.3919414281845093, 86.84760284423828 ]
[ -24.09000015258789, -13.680000305175781, 9.4864501953125, -12.05999755859375, -12.780029296875, -1.9844970703125, 8.25006103515625, -21.510040283203125, 11.1319580078125, 23.37000274658203, 28.920001983642578, 17.2786865234375, -14.879997253417969, 9.240020751953125, 5.13037109375 ]
3.2
96
0
96
0
[ 0.6576261520385742, -39.344276428222656, 89.53156280517578, 16.868511199951172, -1.5452136993408203, 80.07170104980469 ]
[ 1.1274935007095337, -40.36458206176758, 89.30729675292969, 16.567813873291016, -1.3919414281845093, 85.17745208740234 ]
[ -15.540000915527344, -13.830001831054688, 13.6004638671875, -12.05999755859375, -17.58001708984375, 13.261474609375, 10.800048828125, -19.71002197265625, 13.7939453125, 20.81999969482422, 25.170001983642578, 5.9046630859375, -5.5800018310546875, 9.540008544921875, 8.034423828125 ]
3.233333
97
0
97
0
[ 0.6615200042724609, -39.1210823059082, 89.52754974365234, 16.816722869873047, -1.5477418899536133, 77.78335571289062 ]
[ 0.9540329575538635, -40.19097137451172, 89.30729675292969, 16.567813873291016, -1.3919414281845093, 83.36812591552734 ]
[ -12.84000015258789, -20.280006408691406, 14.568359375, -7.410003662109375, -17.8800048828125, 17.6175537109375, 11.7000732421875, -16.260040283203125, 12.0999755859375, 9.870002746582031, 22.62000274658203, 13.40673828125, -11.129997253417969, 11.790008544921875, -3.339599609375 ]
3.266667
98
0
98
0
[ 0.6015720367431641, -38.86457443237305, 89.49246215820312, 16.709203720092773, -1.5706846714019775, 75.62158966064453 ]
[ 0.8673027157783508, -40.01736068725586, 89.30729675292969, 16.567813873291016, -1.4407814741134644, 81.69798278808594 ]
[ -21.240001678466797, -15.779998779296875, 14.568359375, -12.05999755859375, -17.58001708984375, 7.695556640625, 12.1500244140625, -25.260040283203125, 9.9219970703125, 24.270004272460938, 24.56999969482422, 10.9866943359375, -7.379997253417969, 9.839996337890625, -0.6776123046875 ]
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": 32,
    "total_frames": 29826,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:32"
    },
    "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": [
                1
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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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