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float32
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59.9
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int64
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1.8k
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[ -46.29438781738281, -5.0128173828125, 51.762725830078125, 18.613794326782227, -10.072154998779297, 24.936023712158203 ]
[ -45.54670715332031, -3.5454933643341064, 54.95579528808594, 18.27613639831543, -10.036629676818848, 28.13793182373047 ]
[ -69.45000457763672, 17.879993438720703, 31.3148193359375, -69.92999267578125, -63.5400390625, 72.26123046875, -14.39996337890625, -43.019989013671875, -19.16650390625, -21.599998474121094, 28.139999389648438, 50.72314453125, -12.300003051757812, 55.529998779296875, -37.0743408203125 ]
2.866667
86
0
86
0
[ -46.29357147216797, -4.757228851318359, 52.15932083129883, 18.45125961303711, -10.071163177490234, 24.817346572875977 ]
[ -45.763938903808594, -3.5454933643341064, 54.862728118896484, 17.797286987304688, -10.036629676818848, 27.86206817626953 ]
[ -81.9000015258789, 21.02999496459961, 33.0089111328125, -78.77999877929688, -68.7900390625, 82.4251708984375, -21.14996337890625, -53.82000732421875, -21.58642578125, -20.849998474121094, 31.59000015258789, 63.0650634765625, -11.099998474121094, 73.97998046875, -53.5302734375 ]
2.9
87
0
87
0
[ -46.5096435546875, -5.566226959228516, 52.2572135925293, 18.633888244628906, -10.017582893371582, 24.548316955566406 ]
[ -45.83634948730469, -3.8017940521240234, 54.862728118896484, 17.797286987304688, -10.036629676818848, 27.79310417175293 ]
[ -84.30000305175781, 23.27999496459961, 41.23681640625, -76.37998962402344, -77.94000244140625, 88.959228515625, -23.699951171875, -50.82000732421875, -24.2484130859375, -20.70000457763672, 30.84000015258789, 71.0511474609375, -12.75, 64.37997436523438, -53.288330078125 ]
2.933333
88
0
88
0
[ -46.21194076538086, -5.2586822509765625, 51.964088439941406, 18.37973976135254, -9.997715950012207, 24.367521286010742 ]
[ -45.98117446899414, -3.887227773666382, 54.862728118896484, 17.797286987304688, -10.036629676818848, 27.65517234802246 ]
[ -84.5999984741211, 24.179996490478516, 39.784912109375, -87.02999877929688, -74.6400146484375, 95.0091552734375, -12.5999755859375, -55.32000732421875, -17.9564208984375, -34.650001525878906, 26.78999900817871, 69.59912109375, -10.200004577636719, 73.52999877929688, -57.644287109375 ]
2.966667
89
0
89
0
[ -46.39786911010742, -7.727813720703125, 52.913360595703125, 18.57862091064453, -9.814720153808594, 23.91464614868164 ]
[ -46.053585052490234, -4.314395427703857, 54.862728118896484, 17.797286987304688, -10.036629676818848, 27.586206436157227 ]
[ -90.00000762939453, 18.329994201660156, 37.60693359375, -88.37998962402344, -76.8900146484375, 80.0052490234375, -20.54998779296875, -55.32000732421875, -28.3624267578125, -33.75, 27.84000015258789, 81.215087890625, -14.849998474121094, 75.02999877929688, -59.580322265625 ]
3
90
0
90
0
[ -46.288475036621094, -7.524009704589844, 53.069217681884766, 18.535869598388672, -9.881145477294922, 23.975065231323242 ]
[ -46.12599563598633, -4.314395427703857, 54.862728118896484, 17.797286987304688, -10.036629676818848, 27.586206436157227 ]
[ -104.55000305175781, 25.679996490478516, 52.368896484375, -97.97999572753906, -84.84002685546875, 100.5751953125, -20.39996337890625, -62.220001220703125, -19.16650390625, -38.849998474121094, 27.239999771118164, 95.97705078125, -12.75, 90.62997436523438, -58.6123046875 ]
3.033333
91
0
91
0
[ -46.249977111816406, -9.369880676269531, 53.500667572021484, 18.683805465698242, -9.756285667419434, 23.981313705444336 ]
[ -46.12599563598633, -5.168731212615967, 54.862728118896484, 17.877094268798828, -10.036629676818848, 27.310344696044922 ]
[ -108.60000610351562, 40.679996490478516, 61.0809326171875, -96.02999877929688, -84.239990234375, 99.1231689453125, -32.8499755859375, -68.82000732421875, -15.5364990234375, -40.650001525878906, 39.69000244140625, 112.675048828125, -2.4000015258789062, 96.47998046875, -61.5162353515625 ]
3.066667
92
0
92
0
[ -45.55564498901367, -12.399707794189453, 53.89803695678711, 18.934890747070312, -9.558209419250488, 23.96234130859375 ]
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[ -125.25000762939453, 36.47999572753906, 53.578857421875, -103.37998962402344, -85.59002685546875, 111.94921875, -34.3499755859375, -76.47000122070312, -22.3125, -39.599998474121094, 37.44000244140625, 113.64306640625, -6.599998474121094, 104.72998046875, -67.082275390625 ]
3.1
93
0
93
0
[ -45.7458610534668, -15.225261688232422, 55.48801040649414, 19.517051696777344, -9.444602966308594, 24.05975341796875 ]
[ -46.12599563598633, -6.450234889984131, 54.95579528808594, 18.27613639831543, -10.036629676818848, 27.10344886779785 ]
[ -128.5500030517578, 30.62999725341797, 60.596923828125, -109.22999572753906, -87.84002685546875, 115.5792236328125, -41.54998779296875, -77.82000732421875, -19.8924560546875, -40.5, 39.98999786376953, 125.5010986328125, -6.75, 101.8800048828125, -63.936279296875 ]
3.133333
94
0
94
0
[ -44.81382369995117, -19.182601928710938, 56.03800964355469, 19.90338897705078, -9.234506607055664, 24.05621337890625 ]
[ -45.90876007080078, -7.9026055335998535, 55.14192581176758, 19.393455505371094, -9.938949584960938, 27.10344886779785 ]
[ -129.90000915527344, 32.12999725341797, 60.596923828125, -105.62998962402344, -85.44000244140625, 104.93115234375, -38.39996337890625, -80.3699951171875, -21.58642578125, -38.099998474121094, 45.09000015258789, 126.953125, -8.099998474121094, 109.07998657226562, -73.8582763671875 ]
3.166667
95
0
95
0
[ -42.64266586303711, -25.408145904541016, 56.90556716918945, 20.47126579284668, -8.90320110321045, 24.2646427154541 ]
[ -45.83634948730469, -9.953011512756348, 55.88645935058594, 19.553071975708008, -9.98779010772705, 27.10344886779785 ]
[ -123.45000457763672, 32.429996490478516, 62.2908935546875, -112.07998657226562, -92.19000244140625, 99.8492431640625, -40.64996337890625, -85.76998901367188, -19.16650390625, -34.650001525878906, 44.790000915527344, 127.921142578125, -15.75, 109.67999267578125, -65.6302490234375 ]
3.2
96
0
96
0
[ -42.22746276855469, -28.233333587646484, 57.88670349121094, 21.122318267822266, -8.739362716674805, 24.38187026977539 ]
[ -45.40188217163086, -12.686885833740234, 56.91019058227539, 19.712690353393555, -9.645909309387207, 27.10344886779785 ]
[ -132.60000610351562, 35.72999572753906, 58.660888671875, -114.17999267578125, -85.59002685546875, 101.543212890625, -41.24993896484375, -80.51998901367188, -20.1343994140625, -36.30000305175781, 43.44000244140625, 136.39111328125, -9.450004577636719, 107.1300048828125, -64.904296875 ]
3.233333
97
0
97
0
[ -38.64369201660156, -37.21998977661133, 59.14546203613281, 21.743385314941406, -8.360876083374023, 24.363677978515625 ]
[ -44.822593688964844, -16.95856475830078, 57.84085464477539, 20.111732482910156, -9.30402946472168, 27.10344886779785 ]
[ -125.85000610351562, 36.329994201660156, 68.5828857421875, -115.97999572753906, -80.7900390625, 108.0771484375, -45.14996337890625, -79.6199951171875, -27.87841796875, -32.55000305175781, 35.34000015258789, 133.7291259765625, -0.4499969482421875, 104.42999267578125, -65.146240234375 ]
3.266667
98
0
98
0
[ -35.69182586669922, -44.129486083984375, 60.652381896972656, 22.651397705078125, -8.065542221069336, 24.65686798095703 ]
[ -43.519187927246094, -22.084579467773438, 58.771522521972656, 20.670391082763672, -9.059828758239746, 27.10344886779785 ]
[ -130.0500030517578, 28.829994201660156, 61.806884765625, -111.47999572753906, -82.44000244140625, 101.78515625, -48.449951171875, -85.76998901367188, -28.3624267578125, -36.30000305175781, 48.2400016784668, 132.03515625, -5.5500030517578125, 108.02999877929688, -66.5982666015625 ]
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": 28,
    "total_frames": 18621,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:28"
    },
    "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": [
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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": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        },
        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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