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Datasets:
gxy1111
/
so100_rotate

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
22
frame_index
int64
0
659
episode_index
int64
0
49
index
int64
0
21.9k
task_index
int64
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[ -3.955078125, 185.625, 177.099609375, 64.3359375, -75.234375, 3.8727526664733887 ]
2.466667
74
0
74
0
[ -7.646484375, 178.505859375, 173.3203125, 59.23828125, -70.224609375, 4.977777481079102 ]
[ -4.482421875, 183.8671875, 176.923828125, 63.10546875, -74.1796875, 3.8727526664733887 ]
2.5
75
0
75
0
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[ -5.09765625, 182.197265625, 176.66015625, 62.05078125, -73.037109375, 3.941908836364746 ]
2.533333
76
0
76
0
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[ -5.888671875, 180.439453125, 175.341796875, 61.083984375, -71.89453125, 4.287690162658691 ]
2.566667
77
0
77
0
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2.6
78
0
78
0
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[ -7.998046875, 178.06640625, 172.880859375, 59.150390625, -69.78515625, 5.117565631866455 ]
2.633333
79
0
79
0
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[ -8.7890625, 176.8359375, 172.177734375, 58.359375, -68.994140625, 5.394190788269043 ]
2.666667
80
0
80
0
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[ -9.31640625, 175.693359375, 171.826171875, 57.65625, -68.37890625, 5.670815944671631 ]
2.7
81
0
81
0
[ -13.271484375, 172.705078125, 166.728515625, 53.349609375, -66.357421875, 6.844444751739502 ]
[ -9.580078125, 174.814453125, 171.474609375, 56.953125, -68.02734375, 6.016597747802734 ]
2.733333
82
0
82
0
[ -13.88671875, 172.44140625, 166.376953125, 52.294921875, -66.09375, 6.933332920074463 ]
[ -10.634765625, 174.111328125, 171.123046875, 55.986328125, -67.5, 6.154910087585449 ]
2.766667
83
0
83
0
[ -14.23828125, 172.265625, 166.11328125, 51.15234375, -65.7421875, 6.933332920074463 ]
[ -11.953125, 173.671875, 170.68359375, 54.931640625, -67.060546875, 6.224066257476807 ]
2.8
84
0
84
0
[ -14.501953125, 172.177734375, 165.849609375, 49.74609375, -65.0390625, 6.933332920074463 ]
[ -12.83203125, 173.3203125, 170.33203125, 53.96484375, -66.796875, 6.293222904205322 ]
2.833333
85
0
85
0
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[ -13.095703125, 172.880859375, 170.15625, 52.91015625, -66.4453125, 6.362379550933838 ]
2.866667
86
0
86
0
[ -14.677734375, 172.08984375, 165.9375, 46.40625, -64.86328125, 7.111111164093018 ]
[ -13.095703125, 172.705078125, 169.8046875, 51.767578125, -65.830078125, 6.431535720825195 ]
2.9
87
0
87
0
[ -15.029296875, 172.08984375, 166.201171875, 44.6484375, -65.126953125, 7.288888931274414 ]
[ -13.359375, 172.6171875, 169.716796875, 50.185546875, -65.56640625, 6.639004707336426 ]
2.933333
88
0
88
0
[ -15.46875, 171.826171875, 166.728515625, 42.275390625, -65.56640625, 7.466666221618652 ]
[ -13.88671875, 172.6171875, 169.716796875, 48.779296875, -65.390625, 6.708160877227783 ]
2.966667
89
0
89
0
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[ -14.23828125, 172.6171875, 169.716796875, 47.109375, -65.390625, 6.708160877227783 ]
3
90
0
90
0
[ -16.69921875, 170.595703125, 167.431640625, 38.056640625, -67.060546875, 7.466666221618652 ]
[ -14.326171875, 172.6171875, 169.716796875, 45.263671875, -65.390625, 6.915629863739014 ]
3.033333
91
0
91
0
[ -17.40234375, 169.892578125, 167.51953125, 36.38671875, -67.8515625, 7.02222204208374 ]
[ -14.765625, 172.265625, 169.716796875, 43.154296875, -65.56640625, 6.915629863739014 ]
3.066667
92
0
92
0
[ -17.9296875, 169.365234375, 167.255859375, 35.419921875, -67.763671875, 6.933332920074463 ]
[ -15.46875, 171.5625, 169.716796875, 41.1328125, -66.005859375, 6.984786033630371 ]
3.1
93
0
93
0
[ -18.45703125, 168.837890625, 166.728515625, 35.068359375, -67.763671875, 6.933332920074463 ]
[ -16.171875, 170.947265625, 169.716796875, 39.287109375, -66.4453125, 6.915629863739014 ]
3.133333
94
0
94
0
[ -18.984375, 168.486328125, 166.2890625, 34.892578125, -68.203125, 7.288888931274414 ]
[ -16.5234375, 170.33203125, 169.716796875, 37.880859375, -66.708984375, 6.915629863739014 ]
3.166667
95
0
95
0
[ -19.423828125, 168.310546875, 166.025390625, 34.892578125, -68.73046875, 7.733333110809326 ]
[ -17.138671875, 169.716796875, 169.716796875, 37.08984375, -66.884765625, 6.915629863739014 ]
3.2
96
0
96
0
[ -19.775390625, 168.046875, 166.025390625, 34.892578125, -69.697265625, 8.977777481079102 ]
[ -17.666015625, 169.189453125, 169.716796875, 36.5625, -67.1484375, 6.915629863739014 ]
3.233333
97
0
97
0
[ -19.951171875, 167.607421875, 166.11328125, 34.892578125, -71.19140625, 10.04444408416748 ]
[ -18.193359375, 168.75, 169.716796875, 36.298828125, -67.587890625, 7.192255020141602 ]
3.266667
98
0
98
0
[ -19.951171875, 167.16796875, 166.2890625, 34.892578125, -72.685546875, 10.666666984558105 ]
[ -18.6328125, 168.486328125, 169.716796875, 36.123046875, -68.203125, 7.814661502838135 ]
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": 50,
    "total_frames": 21894,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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.eye": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "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",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
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            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            ],
            "names": null
        },
        "index": {
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                1
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        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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