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float32
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45.3
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int64
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1.36k
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[ -26.25, 2.0999984741210938, 2.4200439453125, -15.870025634765625, 7.91998291015625, -1.355224609375, -12.75006103515625, -31.83001708984375, 5.275634765625, 38.12999725341797, -0.9899997711181641, 12.0517578125, 7.3499908447265625, 17.6400146484375, -1.403564453125 ]
2.966667
89
0
89
0
[ 2.448326349258423, -107.65960693359375, 103.16380310058594, 6.995155334472656, 2.2938449382781982, 6.933099746704102 ]
[ 2.054054021835327, -98.70242309570312, 100, 8.15999984741211, 2.07570219039917, 4.996530055999756 ]
[ -21.89999771118164, 6.75, 4.1141357421875, -15.120025634765625, 5.0699462890625, 4.210693359375, -7.2000732421875, -25.530029296875, -5.6143798828125, 36.47999572753906, -5.490000247955322, 3.82373046875, 11.249992370605469, 15.540008544921875, 1.0164794921875 ]
3
90
0
90
0
[ 2.8381540775299072, -107.58354949951172, 103.68950653076172, 6.508384704589844, 2.3366591930389404, 7.077035903930664 ]
[ 2.054054021835327, -98.70242309570312, 100, 8.15999984741211, 2.07570219039917, 5.343511581420898 ]
[ -25.049999237060547, 13.799995422363281, 2.1781005859375, -18.72003173828125, 5.51995849609375, -3.291259765625, -14.550048828125, -22.680023193359375, 12.2935791015625, 41.12999725341797, -1.1399998664855957, 8.6636962890625, 7.799995422363281, 22.8900146484375, -6.7275390625 ]
3.033333
91
0
91
0
[ 2.868452310562134, -107.3979721069336, 104.02169036865234, 6.233249664306641, 2.356746196746826, 7.9467926025390625 ]
[ 2.054054021835327, -98.70242309570312, 100, 8.15999984741211, 2.07570219039917, 6.245662689208984 ]
[ -22.799999237060547, 4.049995422363281, 4.59814453125, -13.02001953125, 6.11993408203125, 6.3887939453125, -11.25006103515625, -20.430023193359375, 0.193603515625, 45.779998779296875, -3.9900002479553223, 9.147705078125, 4.499992370605469, 20.490020751953125, -10.841552734375 ]
3.066667
92
0
92
0
[ 2.839601993560791, -107.58051300048828, 104.16886901855469, 6.488677978515625, 2.313645362854004, 8.457904815673828 ]
[ 2.054054021835327, -98.70242309570312, 100, 8.15999984741211, 2.07570219039917, 6.38445520401001 ]
[ -22.5, 10.049995422363281, -2.419921875, -11.07000732421875, 8.66998291015625, 11.7127685546875, -10.35003662109375, -21.6300048828125, -3.6783447265625, 39.779998779296875, -0.08999967575073242, 13.26171875, 13.349990844726562, 19.44000244140625, -7.45361328125 ]
3.1
93
0
93
0
[ 2.9388105869293213, -107.6050033569336, 104.39825439453125, 6.259735107421875, 2.3714818954467773, 8.575813293457031 ]
[ 2.054054021835327, -98.70242309570312, 100, 7.920000076293945, 2.07570219039917, 6.6620402336120605 ]
[ -27.149999618530273, 6.900001525878906, -6.0499267578125, -10.920013427734375, 0.26995849609375, 3.24267578125, -12.1500244140625, -23.280029296875, 1.6456298828125, 38.72999572753906, 0.9600002765655518, 13.503662109375, 12.749992370605469, 14.94000244140625, 0.0484619140625 ]
3.133333
94
0
94
0
[ 2.8893892765045166, -107.58194732666016, 104.79096984863281, 5.991813659667969, 2.350537061691284, 9.461042404174805 ]
[ 2.1621620655059814, -98.70242309570312, 100, 7.760000228881836, 2.07570219039917, 7.217210292816162 ]
[ -23.39999771118164, 6.299995422363281, -5.0819091796875, -7.32000732421875, 2.219970703125, -3.291259765625, -11.85003662109375, -20.280029296875, 1.8875732421875, 40.08000183105469, -6.990000247955322, 6.4857177734375, 14.099990844726562, 16.44000244140625, 1.984375 ]
3.166667
95
0
95
0
[ 2.795677661895752, -107.46328735351562, 104.931396484375, 5.4028778076171875, 2.35557222366333, 10.027385711669922 ]
[ 2.4864864349365234, -98.70242309570312, 100, 7.760000228881836, 2.07570219039917, 7.980568885803223 ]
[ -21, 9, 0.2420654296875, -9.420013427734375, 9.26995849609375, 7.8406982421875, -13.50006103515625, -23.280029296875, 1.6456298828125, 44.57999801635742, 2.9100003242492676, 23.1837158203125, 6.5999908447265625, 20.6400146484375, -6.2435302734375 ]
3.2
96
0
96
0
[ 2.704131841659546, -107.62124633789062, 105.07460021972656, 5.630725860595703, 2.3646256923675537, 10.591699600219727 ]
[ 2.4864864349365234, -98.70242309570312, 100, 7.679999828338623, 2.17338228225708, 8.18875789642334 ]
[ -24.75, 7.349998474121094, -3.387939453125, -18.57000732421875, 11.8199462890625, -3.291259765625, -11.85003662109375, -27.780029296875, -4.4044189453125, 42.18000030517578, -5.490000247955322, 8.4217529296875, 8.849990844726562, 15.3900146484375, -0.9195556640625 ]
3.233333
97
0
97
0
[ 2.722813129425049, -107.0908432006836, 105.39373016357422, 4.9078216552734375, 2.381215810775757, 11.33544921875 ]
[ 2.4864864349365234, -98.70242309570312, 100, 7.360000133514404, 2.17338228225708, 8.743927955627441 ]
[ -23.549999237060547, 10.650001525878906, 0.72607421875, -14.97003173828125, 7.16998291015625, -0.8712158203125, -11.25006103515625, -20.730010986328125, 14.2296142578125, 44.72999954223633, -5.190000057220459, 18.1016845703125, 14.999992370605469, 17.94000244140625, 0.532470703125 ]
3.266667
98
0
98
0
[ 2.9160709381103516, -107.14372253417969, 105.20133972167969, 4.906131744384766, 2.3915178775787354, 11.6025390625 ]
[ 2.4864864349365234, -98.70242309570312, 100, 7.039999961853027, 2.17338228225708, 9.299098014831543 ]
[ -21.89999771118164, 10.949996948242188, -0.48388671875, -15.27001953125, 3.5699462890625, -1.5972900390625, -11.7000732421875, -21.480010986328125, 11.32568359375, 41.43000030517578, -5.339999675750732, 13.503662109375, 8.399993896484375, 15.3900146484375, -0.193603515625 ]
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": 9,
    "total_frames": 9405,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:9"
    },
    "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
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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