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Datasets:
Dangvi
/
soarm100_data2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ -2.98828125, 181.40625, 176.220703125, 27.94921875, -7.470703125, 0.27720028162002563 ]
2.566667
77
0
77
0
[ -2.28515625, 175.95703125, 170.771484375, 25.927734375, -12.3046875, 0 ]
[ -2.98828125, 180.17578125, 175.078125, 27.421875, -8.701171875, 0.27720028162002563 ]
2.6
78
0
78
0
[ -2.109375, 174.287109375, 168.92578125, 26.103515625, -12.919921875, 0 ]
[ -2.900390625, 178.857421875, 174.19921875, 27.24609375, -9.755859375, 0.27720028162002563 ]
2.633333
79
0
79
0
[ -1.7578125, 172.44140625, 167.080078125, 26.3671875, -13.623046875, 0 ]
[ -2.724609375, 177.451171875, 173.408203125, 27.24609375, -10.634765625, 0.27720028162002563 ]
2.666667
80
0
80
0
[ -1.494140625, 170.5078125, 164.970703125, 26.455078125, -13.798828125, 0 ]
[ -2.28515625, 175.869140625, 172.6171875, 27.24609375, -11.42578125, 0.27720028162002563 ]
2.7
81
0
81
0
[ -1.142578125, 168.22265625, 162.861328125, 26.54296875, -13.974609375, 0 ]
[ -1.93359375, 174.19921875, 171.298828125, 27.24609375, -12.12890625, 0.27720028162002563 ]
2.733333
82
0
82
0
[ -0.87890625, 165.76171875, 160.224609375, 26.982421875, -14.0625, 0 ]
[ -1.7578125, 172.353515625, 169.716796875, 27.24609375, -12.65625, 0.27720028162002563 ]
2.766667
83
0
83
0
[ -0.703125, 163.125, 157.236328125, 28.212890625, -14.677734375, 0 ]
[ -1.58203125, 170.419921875, 167.783203125, 27.24609375, -13.0078125, 0.27720028162002563 ]
2.8
84
0
84
0
[ -0.439453125, 160.400390625, 154.16015625, 29.53125, -15.556640625, 0 ]
[ -1.318359375, 168.310546875, 165.76171875, 27.24609375, -13.271484375, 0.27720028162002563 ]
2.833333
85
0
85
0
[ -0.263671875, 157.763671875, 150.99609375, 31.11328125, -16.69921875, 0 ]
[ -0.87890625, 165.9375, 163.037109375, 27.7734375, -13.798828125, 0.27720028162002563 ]
2.866667
86
0
86
0
[ 0.087890625, 155.302734375, 148.0078125, 32.783203125, -17.9296875, 0 ]
[ -0.615234375, 163.564453125, 160.576171875, 28.65234375, -14.4140625, 0.27720028162002563 ]
2.9
87
0
87
0
[ 0.3515625, 152.841796875, 145.01953125, 34.453125, -19.248046875, 0 ]
[ -0.52734375, 161.015625, 157.8515625, 29.619140625, -15.380859375, 0.27720028162002563 ]
2.933333
88
0
88
0
[ 0.703125, 150.556640625, 142.294921875, 35.947265625, -20.478515625, 0 ]
[ -0.439453125, 158.37890625, 154.775390625, 31.11328125, -16.435546875, 0.27720028162002563 ]
2.966667
89
0
89
0
[ 0.966796875, 148.359375, 139.833984375, 37.265625, -21.4453125, 0 ]
[ -0.17578125, 155.830078125, 151.875, 32.6953125, -17.490234375, 0.27720028162002563 ]
3
90
0
90
0
[ 1.40625, 146.337890625, 137.63671875, 38.056640625, -21.62109375, 0 ]
[ 0.17578125, 153.369140625, 148.88671875, 34.27734375, -18.720703125, 0.27720028162002563 ]
3.033333
91
0
91
0
[ 1.7578125, 144.4921875, 135.703125, 38.49609375, -21.62109375, 0 ]
[ 0.791015625, 151.083984375, 146.25, 35.68359375, -19.6875, 0.27720028162002563 ]
3.066667
92
0
92
0
[ 2.109375, 142.646484375, 133.857421875, 39.111328125, -21.796875, 0 ]
[ 1.318359375, 148.88671875, 143.61328125, 36.9140625, -20.390625, 0.27720028162002563 ]
3.1
93
0
93
0
[ 2.373046875, 140.9765625, 132.1875, 39.90234375, -22.236328125, 0 ]
[ 1.494140625, 146.77734375, 141.328125, 37.79296875, -20.654296875, 0.27720028162002563 ]
3.133333
94
0
94
0
[ 2.724609375, 139.21875, 130.517578125, 40.517578125, -22.412109375, 0 ]
[ 1.7578125, 144.66796875, 139.130859375, 38.583984375, -21.005859375, 0.27720028162002563 ]
3.166667
95
0
95
0
[ 3.1640625, 137.63671875, 128.84765625, 41.220703125, -22.5, 0 ]
[ 1.845703125, 142.822265625, 137.28515625, 39.19921875, -21.357421875, 0.27720028162002563 ]
3.2
96
0
96
0
[ 3.69140625, 135.966796875, 127.177734375, 42.01171875, -22.67578125, 0 ]
[ 2.021484375, 140.9765625, 135.439453125, 39.814453125, -21.708984375, 0.27720028162002563 ]
3.233333
97
0
97
0
[ 4.130859375, 134.296875, 125.33203125, 42.71484375, -22.763671875, 0 ]
[ 2.373046875, 139.21875, 133.76953125, 40.517578125, -21.884765625, 0.27720028162002563 ]
3.266667
98
0
98
0
[ 4.658203125, 132.451171875, 123.22265625, 43.505859375, -22.763671875, 0 ]
[ 2.900390625, 137.548828125, 131.923828125, 41.220703125, -22.060546875, 0.27720028162002563 ]
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": 25,
    "total_frames": 11150,
    "total_tasks": 1,
    "total_videos": 50,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:25"
    },
    "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": [
                6
            ],
            "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.wristcam": {
            "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.webcam": {
            "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": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
33,440