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int64
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[ 22.949996948242188, 11.580001831054688, -13.4068603515625, 14.19000244140625, 11.219970703125, -10.8416748046875, 1.76995849609375, 28.76995849609375, -10.793212890625, -56.1300048828125, -29.640003204345703, -38.5748291015625, 6.3600006103515625, -0.75, -13.9876708984375 ]
2.966667
89
0
89
0
[ -2.404158592224121, -0.47068890929222107, 62.11293411254883, -45.169281005859375, 4.3223443031311035, 3.172978401184082 ]
[ -3.027027130126953, -6.055363178253174, 68.80223083496094, -39.68000030517578, 4.664224624633789, 1.3879250288009644 ]
[ 24, 14.430000305175781, -4.936767578125, 13.44000244140625, 10.469970703125, -7.9376220703125, -1.23004150390625, 24.26995849609375, -7.1632080078125, -44.72999572753906, -18.689998626708984, -28.4107666015625, 2.3100051879882812, -4.350006103515625, -3.8236083984375 ]
3
90
0
90
0
[ -2.664067506790161, 0.47068890929222107, 62.11293411254883, -45.169281005859375, 4.3223443031311035, 7.676560878753662 ]
[ -2.9189188480377197, -2.8546712398529053, 67.68801879882812, -42.63999938964844, 4.566544532775879, 1.5267175436019897 ]
[ 9.749996185302734, -1.3199996948242188, -4.452880859375, 3.089996337890625, 10.469970703125, 3.6783447265625, -9.9300537109375, 7.16998291015625, -12.97119140625, -22.080001831054688, -16.290000915527344, -10.2607421875, 8.910003662109375, 10.95001220703125, 0.5323486328125 ]
3.033333
91
0
91
0
[ -3.05393123626709, 0.984167754650116, 62.11293411254883, -45.169281005859375, 4.175824165344238, 20.675537109375 ]
[ -2.9189188480377197, -1.038062334060669, 67.13092041015625, -43.52000045776367, 4.468864440917969, 1.7349063158035278 ]
[ -3.4500045776367188, 4.379997253417969, -1.0648193359375, 2.19000244140625, 11.219970703125, -4.7916259765625, -17.58001708984375, 2.219970703125, -5.953125, -3.3300018310546875, -10.4399995803833, -6.6307373046875, 16.710006713867188, 3.29998779296875, -1.16162109375 ]
3.066667
92
0
92
0
[ -3.4437947273254395, 1.2409071922302246, 62.11293411254883, -45.25185775756836, 4.078144073486328, 29.06857681274414 ]
[ -2.9189188480377197, 0.08650518953800201, 67.13092041015625, -43.91999816894531, 4.468864440917969, 2.914642572402954 ]
[ 3.7499961853027344, 2.1299972534179688, -4.2108154296875, -1.709991455078125, 1.61993408203125, 5.8563232421875, -6.780029296875, 1.469970703125, -6.1951904296875, -7.379997253417969, -12.089999198913574, -3.726806640625, 7.560005187988281, 3, -2.6136474609375 ]
3.1
93
0
93
0
[ -4.093567371368408, 1.5832263231277466, 62.20400619506836, -45.25185775756836, 4.078144073486328, 31.42272186279297 ]
[ -2.9189188480377197, 1.038062334060669, 67.13092041015625, -44.08000183105469, 4.371184349060059, 7.078417778015137 ]
[ 2.3999977111816406, 13.229995727539062, -4.452880859375, 1.44000244140625, 8.219970703125, -6.9696044921875, -6.1800537109375, 5.819976806640625, -0.1451416015625, -2.5800018310546875, -12.24000072479248, -10.98681640625, 12.510002136230469, 1.350006103515625, -7.45361328125 ]
3.133333
94
0
94
0
[ -4.743340015411377, 2.011125326156616, 62.20400619506836, -45.25185775756836, 4.126984119415283, 34.186283111572266 ]
[ -3.027027130126953, 1.3840830326080322, 67.13092041015625, -44.2400016784668, 4.3223443031311035, 14.573212623596191 ]
[ 0.7499961853027344, 4.680000305175781, 3.533203125, 0.989990234375, 1.76995849609375, 4.4044189453125, -5.4300537109375, 6.719970703125, -0.8712158203125, -5.430000305175781, -6.539999961853027, -1.790771484375, 6.810005187988281, -1.79998779296875, -4.3076171875 ]
3.166667
95
0
95
0
[ -5.523066997528076, 2.524604082107544, 62.20400619506836, -45.25185775756836, 4.126984119415283, 37.25690841674805 ]
[ -3.2432432174682617, 1.730103850364685, 67.03807067871094, -44.2400016784668, 4.273504257202148, 21.651630401611328 ]
[ 6.299999237060547, 1.8300018310546875, -2.2747802734375, 0.989990234375, 3.26995849609375, -3.09765625, 2.219970703125, 8.219970703125, -9.0992431640625, 2.970001220703125, -10.589999198913574, 1.8392333984375, 6.660003662109375, -7.20001220703125, 6.098388671875 ]
3.2
96
0
96
0
[ -6.302793979644775, 2.781343698501587, 62.20400619506836, -45.25185775756836, 4.078144073486328, 37.56397247314453 ]
[ -3.5675675868988037, 2.2491350173950195, 67.03807067871094, -44.2400016784668, 4.273504257202148, 28.244274139404297 ]
[ 1.4999961853027344, 5.5800018310546875, 0.38720703125, -1.860015869140625, 6.86993408203125, 1.984375, -1.3800048828125, 5.219970703125, -1.1131591796875, 0.8700027465820312, -10.74000072479248, 4.0172119140625, 9.360000610351562, 2.100006103515625, -1.8875732421875 ]
3.233333
97
0
97
0
[ -7.082520961761475, 3.038083076477051, 62.20400619506836, -45.25185775756836, 4.029304027557373, 38.075740814208984 ]
[ -4.432432651519775, 2.7681660652160645, 67.03807067871094, -44.2400016784668, 4.273504257202148, 32.269256591796875 ]
[ 2.9999961853027344, 3.4799957275390625, -3.0008544921875, 5.19000244140625, -0.1800537109375, -2.129638671875, -4.98004150390625, 3.41998291015625, 1.790771484375, -7.529998779296875, -6.3899993896484375, 1.1131591796875, 5.010002136230469, 2.25, 7.7923583984375 ]
3.266667
98
0
98
0
[ -7.732293605804443, 3.209242582321167, 62.20400619506836, -45.25185775756836, 3.8339438438415527, 39.303993225097656 ]
[ -5.1891889572143555, 3.2006919384002686, 67.03807067871094, -44.2400016784668, 4.273504257202148, 35.32269287109375 ]
[ 2.5499954223632812, 4.529998779296875, -6.1468505859375, -0.510009765625, 3.26995849609375, 10.21240234375, -3.6300048828125, 3.269989013671875, -1.355224609375, 1.9199981689453125, -5.489999771118164, -8.5667724609375, 4.1100006103515625, -0.899993896484375, 5.8563232421875 ]
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": 54,
    "total_frames": 28899,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:54"
    },
    "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
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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