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Datasets:
RasmusP
/
so100_custommovement6

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
lerobot
Libraries:
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pandas
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
14.8
frame_index
int64
0
445
episode_index
int64
0
0
index
int64
0
445
task_index
int64
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[ -2.8125, 187.03125, 142.470703125, 68.73046875, -14.765625, 0.2604166865348816 ]
[ -2.8125, 187.294921875, 149.677734375, 71.54296875, -14.677734375, 1.063829779624939 ]
2.366667
71
0
71
0
[ -2.8125, 187.03125, 141.767578125, 67.67578125, -14.765625, 0.173611119389534 ]
[ -2.8125, 187.294921875, 147.744140625, 70.83984375, -14.677734375, 1.063829779624939 ]
2.4
72
0
72
0
[ -2.8125, 187.03125, 141.240234375, 66.62109375, -14.765625, 0.173611119389534 ]
[ -2.724609375, 187.294921875, 146.162109375, 69.9609375, -14.677734375, 1.063829779624939 ]
2.433333
73
0
73
0
[ -2.8125, 187.03125, 140.625, 65.390625, -14.765625, 0.173611119389534 ]
[ -2.724609375, 187.294921875, 145.107421875, 68.994140625, -14.677734375, 1.063829779624939 ]
2.466667
74
0
74
0
[ -2.8125, 187.03125, 139.921875, 63.984375, -14.765625, 0.173611119389534 ]
[ -2.63671875, 187.294921875, 144.228515625, 68.115234375, -14.677734375, 1.063829779624939 ]
2.5
75
0
75
0
[ -2.8125, 186.943359375, 139.21875, 62.578125, -14.765625, 0.173611119389534 ]
[ -2.63671875, 187.294921875, 143.349609375, 67.060546875, -14.677734375, 1.063829779624939 ]
2.533333
76
0
76
0
[ -2.8125, 186.591796875, 138.515625, 61.171875, -14.765625, 0.173611119389534 ]
[ -2.724609375, 187.294921875, 142.646484375, 65.830078125, -14.677734375, 1.063829779624939 ]
2.566667
77
0
77
0
[ -2.8125, 186.591796875, 138.076171875, 59.853515625, -14.765625, 0.173611119389534 ]
[ -2.724609375, 187.294921875, 141.85546875, 64.599609375, -14.677734375, 1.063829779624939 ]
2.6
78
0
78
0
[ -2.8125, 186.50390625, 137.8125, 58.53515625, -14.765625, 0.173611119389534 ]
[ -2.724609375, 187.294921875, 141.064453125, 63.193359375, -14.677734375, 1.063829779624939 ]
2.633333
79
0
79
0
[ -2.724609375, 186.50390625, 137.8125, 57.216796875, -14.765625, 0.173611119389534 ]
[ -2.724609375, 187.294921875, 140.44921875, 61.875, -14.677734375, 1.063829779624939 ]
2.666667
80
0
80
0
[ -2.548828125, 186.328125, 137.724609375, 55.546875, -14.677734375, 0.173611119389534 ]
[ -2.724609375, 187.294921875, 140.09765625, 60.556640625, -14.677734375, 1.063829779624939 ]
2.7
81
0
81
0
[ -2.109375, 186.15234375, 137.373046875, 53.7890625, -14.150390625, 0.173611119389534 ]
[ -2.724609375, 187.294921875, 139.921875, 59.150390625, -14.677734375, 1.063829779624939 ]
2.733333
82
0
82
0
[ -1.40625, 185.9765625, 136.669921875, 52.03125, -13.974609375, 0.173611119389534 ]
[ -2.63671875, 187.294921875, 139.74609375, 57.744140625, -14.677734375, 1.063829779624939 ]
2.766667
83
0
83
0
[ -0.791015625, 185.712890625, 135.966796875, 50.2734375, -13.974609375, 0.173611119389534 ]
[ -2.63671875, 187.03125, 139.39453125, 56.07421875, -14.501953125, 1.063829779624939 ]
2.8
84
0
84
0
[ -0.17578125, 185.09765625, 135.17578125, 48.779296875, -13.974609375, 0.173611119389534 ]
[ -2.548828125, 186.767578125, 138.955078125, 54.4921875, -14.23828125, 1.063829779624939 ]
2.833333
85
0
85
0
[ 0.3515625, 184.306640625, 134.208984375, 47.724609375, -13.974609375, 0.173611119389534 ]
[ -1.845703125, 186.50390625, 138.33984375, 52.822265625, -14.23828125, 1.063829779624939 ]
2.866667
86
0
86
0
[ 0.87890625, 183.251953125, 132.978515625, 47.197265625, -13.974609375, 0.173611119389534 ]
[ -1.142578125, 186.15234375, 137.63671875, 51.15234375, -14.23828125, 1.063829779624939 ]
2.9
87
0
87
0
[ 1.494140625, 181.93359375, 131.66015625, 47.197265625, -13.974609375, 0.173611119389534 ]
[ -0.439453125, 185.44921875, 136.7578125, 49.921875, -14.23828125, 1.063829779624939 ]
2.933333
88
0
88
0
[ 2.021484375, 180.439453125, 130.078125, 47.197265625, -13.974609375, 0.173611119389534 ]
[ 0.263671875, 184.658203125, 135.791015625, 49.130859375, -14.23828125, 1.063829779624939 ]
2.966667
89
0
89
0
[ 2.548828125, 178.857421875, 128.232421875, 47.021484375, -13.974609375, 0.173611119389534 ]
[ 0.966796875, 183.603515625, 134.560546875, 48.69140625, -14.23828125, 1.063829779624939 ]
3
90
0
90
0
[ 2.900390625, 177.099609375, 126.03515625, 47.021484375, -13.974609375, 0.173611119389534 ]
[ 1.494140625, 182.373046875, 133.330078125, 48.427734375, -14.23828125, 1.063829779624939 ]
3.033333
91
0
91
0
[ 3.1640625, 175.166015625, 123.57421875, 47.4609375, -13.974609375, 0.173611119389534 ]
[ 1.93359375, 180.87890625, 131.66015625, 48.1640625, -14.23828125, 1.063829779624939 ]
3.066667
92
0
92
0
[ 3.33984375, 172.96875, 120.9375, 47.63671875, -13.974609375, 0.173611119389534 ]
[ 2.373046875, 179.384765625, 129.814453125, 48.076171875, -14.23828125, 1.063829779624939 ]
3.1
93
0
93
0
[ 3.603515625, 170.771484375, 118.30078125, 47.724609375, -13.974609375, 0.173611119389534 ]
[ 2.724609375, 177.71484375, 127.880859375, 47.98828125, -14.23828125, 1.063829779624939 ]
3.133333
94
0
94
0
[ 3.8671875, 168.486328125, 115.83984375, 47.724609375, -13.974609375, 0.173611119389534 ]
[ 2.900390625, 175.869140625, 125.5078125, 47.98828125, -14.23828125, 1.063829779624939 ]
3.166667
95
0
95
0
[ 4.04296875, 166.201171875, 113.642578125, 47.8125, -13.974609375, 0.173611119389534 ]
[ 3.076171875, 173.583984375, 122.87109375, 47.98828125, -14.23828125, 1.063829779624939 ]
3.2
96
0
96
0
[ 4.39453125, 164.1796875, 111.62109375, 47.8125, -13.974609375, 0.173611119389534 ]
[ 3.251953125, 171.650390625, 120.5859375, 47.98828125, -14.23828125, 1.063829779624939 ]
3.233333
97
0
97
0
[ 4.5703125, 162.421875, 109.775390625, 47.8125, -13.974609375, 0.173611119389534 ]
[ 3.427734375, 169.62890625, 118.30078125, 47.98828125, -14.23828125, 1.063829779624939 ]
3.266667
98
0
98
0
[ 4.74609375, 161.015625, 108.10546875, 47.98828125, -13.974609375, 0.173611119389534 ]
[ 3.8671875, 167.431640625, 115.927734375, 47.98828125, -14.23828125, 1.063829779624939 ]
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": 1,
    "total_frames": 446,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.webcam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "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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