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Datasets:
CrazyYhang
/
precision-assembly

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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float32
0
45.5
frame_index
int64
0
1.37k
episode_index
int64
0
159
index
int64
0
166k
task_index
int64
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2.366667
71
0
71
0
[ -8.525390625, 160.3125, 139.21875, 86.220703125, -58.18359375, 15.378220558166504 ]
[ -7.03125, 166.46484375, 153.80859375, 83.49609375, -63.896484375, 13.2551851272583 ]
2.4
72
0
72
0
[ -8.349609375, 159.08203125, 137.548828125, 86.484375, -57.216796875, 15.544472694396973 ]
[ -7.03125, 165.05859375, 151.611328125, 83.935546875, -62.75390625, 13.615870475769043 ]
2.433333
73
0
73
0
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2.466667
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0
74
0
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2.5
75
0
75
0
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2.533333
76
0
76
0
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2.566667
77
0
77
0
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2.6
78
0
78
0
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2.633333
79
0
79
0
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2.666667
80
0
80
0
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[ -7.119140625, 153.369140625, 137.724609375, 86.8359375, -53.525390625, 16.591524124145508 ]
2.7
81
0
81
0
[ -4.921875, 140.625, 119.267578125, 91.40625, -44.82421875, 18.536991119384766 ]
[ -7.119140625, 151.083984375, 135.439453125, 87.5390625, -52.20703125, 16.862037658691406 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ -6.767578125, 146.865234375, 131.396484375, 88.330078125, -49.658203125, 17.132551193237305 ]
2.8
84
0
84
0
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[ -6.240234375, 144.84375, 129.19921875, 88.681640625, -48.33984375, 17.132551193237305 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ -4.921875, 141.240234375, 125.244140625, 89.560546875, -45.439453125, 17.132551193237305 ]
2.9
87
0
87
0
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2.933333
88
0
88
0
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[ -3.33984375, 137.548828125, 121.81640625, 90.087890625, -42.099609375, 17.312894821166992 ]
2.966667
89
0
89
0
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[ -2.63671875, 135.791015625, 120.498046875, 90.17578125, -40.693359375, 17.673580169677734 ]
3
90
0
90
0
[ 2.28515625, 128.14453125, 111.26953125, 90.52734375, -33.046875, 19.451370239257812 ]
[ -2.021484375, 134.12109375, 119.35546875, 90.17578125, -39.375, 17.944093704223633 ]
3.033333
91
0
91
0
[ 3.076171875, 126.5625, 110.56640625, 90.615234375, -32.16796875, 19.451370239257812 ]
[ -1.494140625, 132.71484375, 118.564453125, 90.17578125, -38.14453125, 18.124435424804688 ]
3.066667
92
0
92
0
[ 3.8671875, 124.892578125, 109.86328125, 90.52734375, -31.201171875, 19.451370239257812 ]
[ -0.87890625, 131.220703125, 117.861328125, 90.17578125, -37.08984375, 18.124435424804688 ]
3.1
93
0
93
0
[ 4.658203125, 123.046875, 109.072265625, 90.17578125, -30.41015625, 19.700748443603516 ]
[ 0, 129.375, 117.0703125, 90.17578125, -35.859375, 18.124435424804688 ]
3.133333
94
0
94
0
[ 5.2734375, 121.201171875, 108.10546875, 89.47265625, -29.35546875, 20.03325080871582 ]
[ 0.791015625, 127.353515625, 116.19140625, 90.17578125, -34.62890625, 18.124435424804688 ]
3.166667
95
0
95
0
[ 5.625, 119.8828125, 107.314453125, 89.033203125, -28.564453125, 20.116374969482422 ]
[ 1.40625, 125.859375, 115.576171875, 90.17578125, -33.75, 18.124435424804688 ]
3.2
96
0
96
0
[ 5.9765625, 118.30078125, 106.259765625, 89.033203125, -28.037109375, 20.365753173828125 ]
[ 2.021484375, 124.541015625, 115.048828125, 90.087890625, -32.783203125, 18.304779052734375 ]
3.233333
97
0
97
0
[ 6.416015625, 116.71875, 105.029296875, 89.12109375, -27.421875, 20.53200340270996 ]
[ 2.548828125, 122.958984375, 114.2578125, 89.82421875, -31.904296875, 18.665464401245117 ]
3.266667
98
0
98
0
[ 6.85546875, 115.048828125, 103.7109375, 89.47265625, -26.89453125, 20.615129470825195 ]
[ 3.076171875, 121.376953125, 113.5546875, 89.736328125, -31.11328125, 18.935977935791016 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 160,
    "total_frames": 165660,
    "total_tasks": 1,
    "total_videos": 320,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:160"
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    "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": {
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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "shape": [
                6
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        },
        "observation.images.laptop": {
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        "observation.images.phone": {
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            "info": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        }
    }
}

Citation

BibTeX:

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License:
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