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Datasets:
aimihat
/
so100_rotate

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
tutorial
Libraries:
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Dask
License:
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
14.9
frame_index
int64
0
447
episode_index
int64
0
2
index
int64
0
1.34k
task_index
int64
0
0
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[ 8.26171875, 188.876953125, 173.935546875, 66.533203125, -7.03125, 23.330442428588867 ]
2.4
72
0
72
0
[ 8.876953125, 189.140625, 169.365234375, 64.775390625, -6.6796875, 23.29817771911621 ]
[ 8.61328125, 188.876953125, 173.759765625, 66.181640625, -7.03125, 23.330442428588867 ]
2.433333
73
0
73
0
[ 8.876953125, 189.140625, 167.87109375, 64.599609375, -6.50390625, 23.29817771911621 ]
[ 8.701171875, 188.876953125, 173.232421875, 65.91796875, -7.03125, 23.330442428588867 ]
2.466667
74
0
74
0
[ 8.876953125, 189.140625, 166.640625, 64.51171875, -6.15234375, 23.29817771911621 ]
[ 8.701171875, 188.876953125, 172.353515625, 65.56640625, -7.03125, 23.330442428588867 ]
2.5
75
0
75
0
[ 8.525390625, 188.96484375, 165.673828125, 64.16015625, -6.240234375, 23.29817771911621 ]
[ 8.525390625, 188.876953125, 171.298828125, 65.390625, -6.943359375, 23.330442428588867 ]
2.533333
76
0
76
0
[ 8.525390625, 188.525390625, 164.70703125, 63.984375, -6.416015625, 23.29817771911621 ]
[ 8.525390625, 188.876953125, 169.98046875, 65.302734375, -6.85546875, 23.330442428588867 ]
2.566667
77
0
77
0
[ 8.61328125, 186.943359375, 163.388671875, 64.248046875, -6.591796875, 23.29817771911621 ]
[ 8.4375, 188.876953125, 168.92578125, 64.951171875, -6.767578125, 23.330442428588867 ]
2.6
78
0
78
0
[ 8.876953125, 184.04296875, 161.3671875, 64.248046875, -6.6796875, 23.29817771911621 ]
[ 8.4375, 188.7890625, 167.87109375, 64.86328125, -6.767578125, 23.330442428588867 ]
2.633333
79
0
79
0
[ 8.96484375, 180.87890625, 159.2578125, 63.984375, -6.416015625, 23.29817771911621 ]
[ 8.4375, 188.0859375, 166.552734375, 64.86328125, -6.767578125, 23.330442428588867 ]
2.666667
80
0
80
0
[ 8.96484375, 178.505859375, 157.32421875, 63.45703125, -6.240234375, 23.29817771911621 ]
[ 8.4375, 186.6796875, 165.05859375, 64.86328125, -6.767578125, 23.330442428588867 ]
2.7
81
0
81
0
[ 8.96484375, 176.30859375, 155.56640625, 62.75390625, -5.888671875, 23.29817771911621 ]
[ 8.4375, 184.306640625, 163.30078125, 64.6875, -6.6796875, 23.330442428588867 ]
2.733333
82
0
82
0
[ 8.96484375, 173.84765625, 153.45703125, 61.962890625, -5.009765625, 23.489933013916016 ]
[ 8.61328125, 181.23046875, 161.455078125, 64.248046875, -6.591796875, 23.330442428588867 ]
2.766667
83
0
83
0
[ 8.61328125, 171.123046875, 151.259765625, 61.5234375, -4.658203125, 23.489933013916016 ]
[ 8.701171875, 179.033203125, 159.697265625, 63.720703125, -6.328125, 23.330442428588867 ]
2.8
84
0
84
0
[ 8.349609375, 168.662109375, 149.501953125, 61.083984375, -4.658203125, 23.5858097076416 ]
[ 8.701171875, 176.748046875, 157.8515625, 63.10546875, -5.712890625, 23.330442428588867 ]
2.833333
85
0
85
0
[ 7.91015625, 166.728515625, 148.0078125, 60.908203125, -5.009765625, 23.5858097076416 ]
[ 8.701171875, 174.375, 155.7421875, 62.578125, -5.44921875, 23.330442428588867 ]
2.866667
86
0
86
0
[ 7.3828125, 164.970703125, 146.865234375, 60.908203125, -5.712890625, 23.5858097076416 ]
[ 8.701171875, 171.826171875, 153.80859375, 62.138671875, -5.361328125, 23.330442428588867 ]
2.9
87
0
87
0
[ 7.119140625, 163.65234375, 146.162109375, 60.908203125, -5.80078125, 23.5858097076416 ]
[ 8.525390625, 169.541015625, 152.138671875, 61.875, -5.361328125, 23.330442428588867 ]
2.933333
88
0
88
0
[ 6.943359375, 162.59765625, 145.634765625, 60.908203125, -5.80078125, 23.5858097076416 ]
[ 8.0859375, 167.607421875, 150.732421875, 61.787109375, -5.44921875, 23.330442428588867 ]
2.966667
89
0
89
0
[ 6.591796875, 161.103515625, 145.01953125, 60.908203125, -5.80078125, 23.5858097076416 ]
[ 7.646484375, 166.46484375, 150.029296875, 61.69921875, -5.537109375, 23.330442428588867 ]
3
90
0
90
0
[ 6.064453125, 159.345703125, 143.96484375, 60.908203125, -5.80078125, 23.5858097076416 ]
[ 7.20703125, 164.970703125, 149.0625, 61.69921875, -5.537109375, 23.330442428588867 ]
3.033333
91
0
91
0
[ 5.361328125, 156.884765625, 142.20703125, 61.34765625, -5.888671875, 23.5858097076416 ]
[ 7.03125, 163.125, 148.0078125, 61.69921875, -5.537109375, 23.330442428588867 ]
3.066667
92
0
92
0
[ 4.74609375, 153.544921875, 139.5703125, 62.314453125, -5.9765625, 23.5858097076416 ]
[ 6.85546875, 161.279296875, 147.216796875, 61.69921875, -5.537109375, 23.330442428588867 ]
3.1
93
0
93
0
[ 4.130859375, 149.150390625, 136.23046875, 63.6328125, -5.9765625, 23.39405632019043 ]
[ 6.50390625, 160.400390625, 146.77734375, 61.69921875, -5.537109375, 23.330442428588867 ]
3.133333
94
0
94
0
[ 3.69140625, 144.228515625, 132.451171875, 65.21484375, -5.9765625, 23.29817771911621 ]
[ 5.712890625, 159.08203125, 145.634765625, 62.2265625, -5.537109375, 23.330442428588867 ]
3.166667
95
0
95
0
[ 3.33984375, 139.04296875, 128.232421875, 67.1484375, -5.9765625, 23.29817771911621 ]
[ 4.921875, 156.26953125, 142.998046875, 63.10546875, -5.537109375, 23.330442428588867 ]
3.2
96
0
96
0
[ 3.251953125, 134.47265625, 124.1015625, 69.08203125, -5.9765625, 23.29817771911621 ]
[ 4.130859375, 152.05078125, 139.5703125, 64.072265625, -5.537109375, 23.330442428588867 ]
3.233333
97
0
97
0
[ 3.1640625, 130.693359375, 120.5859375, 70.48828125, -5.9765625, 23.29817771911621 ]
[ 3.779296875, 147.392578125, 136.0546875, 65.654296875, -5.537109375, 23.330442428588867 ]
3.266667
98
0
98
0
[ 3.1640625, 128.49609375, 118.125, 71.279296875, -5.9765625, 23.29817771911621 ]
[ 3.603515625, 142.646484375, 132.275390625, 67.236328125, -5.537109375, 23.330442428588867 ]
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": 3,
    "total_frames": 1344,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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": [
                "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": [
                480,
                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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