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Datasets:
fracapuano
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ 21.4453125, 182.548828125, 160.3125, 45.3515625, 0.87890625, 0.5295007228851318 ]
2.466667
74
0
74
0
[ 20.478515625, 184.74609375, 160.927734375, 46.142578125, 0.703125, -0.09487666189670563 ]
[ 21.357421875, 183.515625, 160.751953125, 45.791015625, 0.87890625, 0.5295007228851318 ]
2.5
75
0
75
0
[ 20.56640625, 184.74609375, 161.3671875, 46.0546875, 0.615234375, -0.09487666189670563 ]
[ 20.91796875, 183.779296875, 161.103515625, 45.966796875, 0.87890625, 0.5295007228851318 ]
2.533333
76
0
76
0
[ 20.56640625, 184.74609375, 161.89453125, 46.0546875, 0.615234375, -0.09487666189670563 ]
[ 20.478515625, 183.779296875, 161.54296875, 46.0546875, 0.87890625, 0.5295007228851318 ]
2.566667
77
0
77
0
[ 20.7421875, 184.74609375, 162.59765625, 45.87890625, 0.703125, -0.09487666189670563 ]
[ 20.302734375, 184.21875, 162.0703125, 46.0546875, 0.87890625, 0.5295007228851318 ]
2.6
78
0
78
0
[ 20.830078125, 184.74609375, 163.212890625, 45.52734375, 0.703125, -0.09487666189670563 ]
[ 20.56640625, 184.74609375, 162.509765625, 46.0546875, 0.87890625, 0.5295007228851318 ]
2.633333
79
0
79
0
[ 20.91796875, 184.74609375, 163.916015625, 45.17578125, 0.703125, -0.09487666189670563 ]
[ 20.91796875, 184.74609375, 163.125, 46.0546875, 0.87890625, 0.5295007228851318 ]
2.666667
80
0
80
0
[ 20.91796875, 184.74609375, 164.70703125, 44.6484375, 0.703125, -0.09487666189670563 ]
[ 21.09375, 184.658203125, 163.740234375, 46.0546875, 0.87890625, 0.5295007228851318 ]
2.7
81
0
81
0
[ 20.91796875, 184.74609375, 165.322265625, 44.296875, 0.703125, -0.09487666189670563 ]
[ 21.09375, 184.306640625, 164.35546875, 46.0546875, 0.87890625, 0.5295007228851318 ]
2.733333
82
0
82
0
[ 20.91796875, 184.833984375, 166.025390625, 44.12109375, 0.703125, -0.09487666189670563 ]
[ 21.005859375, 184.306640625, 165.234375, 46.0546875, 0.87890625, 0.5295007228851318 ]
2.766667
83
0
83
0
[ 20.7421875, 184.833984375, 166.640625, 44.12109375, 0.615234375, -0.09487666189670563 ]
[ 20.830078125, 184.39453125, 165.9375, 46.0546875, 0.87890625, 0.5295007228851318 ]
2.8
84
0
84
0
[ 20.56640625, 184.833984375, 167.34375, 44.384765625, 0.703125, -0.09487666189670563 ]
[ 20.7421875, 184.39453125, 166.552734375, 46.0546875, 0.87890625, 0.5295007228851318 ]
2.833333
85
0
85
0
[ 20.56640625, 184.833984375, 168.134765625, 44.82421875, 0.791015625, -0.09487666189670563 ]
[ 20.56640625, 184.39453125, 167.16796875, 46.0546875, 0.87890625, 0.5295007228851318 ]
2.866667
86
0
86
0
[ 20.478515625, 184.833984375, 169.013671875, 45.3515625, 0.791015625, -0.09487666189670563 ]
[ 20.56640625, 184.482421875, 167.87109375, 46.0546875, 0.87890625, 0.5295007228851318 ]
2.9
87
0
87
0
[ 20.478515625, 184.833984375, 169.8046875, 46.0546875, 0.791015625, -0.09487666189670563 ]
[ 20.478515625, 184.74609375, 168.662109375, 46.0546875, 0.87890625, 0.5295007228851318 ]
2.933333
88
0
88
0
[ 20.390625, 184.833984375, 170.68359375, 47.197265625, 0.703125, -0.09487666189670563 ]
[ 20.478515625, 184.74609375, 169.453125, 46.0546875, 0.87890625, 0.5295007228851318 ]
2.966667
89
0
89
0
[ 20.390625, 184.833984375, 171.5625, 48.33984375, 0.703125, -0.09487666189670563 ]
[ 20.478515625, 184.39453125, 170.244140625, 46.0546875, 0.87890625, 0.5295007228851318 ]
3
90
0
90
0
[ 20.390625, 184.833984375, 172.44140625, 49.130859375, 0.615234375, -0.09487666189670563 ]
[ 20.478515625, 184.306640625, 171.03515625, 46.669921875, 0.87890625, 0.5295007228851318 ]
3.033333
91
0
91
0
[ 20.390625, 184.833984375, 173.232421875, 50.09765625, 0.087890625, -0.09487666189670563 ]
[ 20.478515625, 184.306640625, 171.9140625, 47.373046875, 0.87890625, 0.5295007228851318 ]
3.066667
92
0
92
0
[ 20.390625, 184.833984375, 173.759765625, 50.44921875, -0.439453125, -0.09487666189670563 ]
[ 20.478515625, 184.306640625, 172.79296875, 48.251953125, 0.87890625, 0.5295007228851318 ]
3.1
93
0
93
0
[ 20.302734375, 184.74609375, 174.0234375, 50.44921875, -0.703125, -0.09487666189670563 ]
[ 20.478515625, 184.482421875, 173.671875, 49.04296875, 0.791015625, 0.5295007228851318 ]
3.133333
94
0
94
0
[ 19.6875, 183.8671875, 174.0234375, 50.2734375, -0.966796875, -0.09487666189670563 ]
[ 20.478515625, 184.482421875, 174.287109375, 49.74609375, 0.3515625, 0.5295007228851318 ]
3.166667
95
0
95
0
[ 18.896484375, 182.900390625, 174.0234375, 50.09765625, -1.0546875, -0.09487666189670563 ]
[ 20.478515625, 184.130859375, 174.638671875, 50.009765625, 0, 0.5295007228851318 ]
3.2
96
0
96
0
[ 18.28125, 182.28515625, 173.935546875, 50.09765625, -1.0546875, -0.09487666189670563 ]
[ 20.478515625, 183.8671875, 174.814453125, 50.009765625, -0.3515625, 0.5295007228851318 ]
3.233333
97
0
97
0
[ 17.666015625, 181.845703125, 173.935546875, 50.185546875, -1.142578125, -0.09487666189670563 ]
[ 20.302734375, 183.779296875, 174.814453125, 50.009765625, -0.615234375, 0.5295007228851318 ]
3.266667
98
0
98
0
[ 17.314453125, 181.845703125, 174.19921875, 49.658203125, -1.142578125, -0.09487666189670563 ]
[ 19.51171875, 183.779296875, 174.814453125, 50.009765625, -0.615234375, 0.5295007228851318 ]
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": "v2.1",
    "robot_type": "so100",
    "total_episodes": 2,
    "total_frames": 1188,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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