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kkurzweil
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so100_test_v001

Tasks:
Robotics
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Tags:
LeRobot
so100
tutorial
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float32
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int64
episode_index
int64
index
int64
task_index
int64
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[ -0.791015625, 187.294921875, 171.650390625, 79.8046875, -88.59375, -0.0958772748708725 ]
[ 0, 188.349609375, 172.880859375, 79.365234375, -88.06640625, 0.21849963068962097 ]
2.4
72
0
72
0
[ -0.791015625, 187.294921875, 171.650390625, 79.8046875, -88.59375, -0.0958772748708725 ]
[ 0, 188.349609375, 172.880859375, 79.365234375, -88.06640625, 0.21849963068962097 ]
2.433333
73
0
73
0
[ -0.791015625, 187.294921875, 171.650390625, 79.8046875, -88.59375, -0.0958772748708725 ]
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2.466667
74
0
74
0
[ -0.791015625, 187.294921875, 171.650390625, 79.8046875, -88.59375, -0.0958772748708725 ]
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2.5
75
0
75
0
[ -0.791015625, 187.294921875, 171.650390625, 79.8046875, -88.59375, -0.0958772748708725 ]
[ 0, 188.349609375, 172.880859375, 79.365234375, -88.06640625, 0.21849963068962097 ]
2.533333
76
0
76
0
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[ 0, 188.349609375, 172.880859375, 79.365234375, -88.06640625, 0.21849963068962097 ]
2.566667
77
0
77
0
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[ 0, 188.349609375, 172.880859375, 79.365234375, -88.06640625, 0.21849963068962097 ]
2.6
78
0
78
0
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[ 0, 188.349609375, 172.880859375, 79.365234375, -88.06640625, 0.21849963068962097 ]
2.633333
79
0
79
0
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[ 0, 188.349609375, 172.880859375, 79.365234375, -88.06640625, 0.21849963068962097 ]
2.666667
80
0
80
0
[ -0.791015625, 187.20703125, 171.650390625, 79.8046875, -89.208984375, -0.0958772748708725 ]
[ 0, 188.349609375, 172.880859375, 79.365234375, -88.06640625, 0.21849963068962097 ]
2.7
81
0
81
0
[ -0.791015625, 187.734375, 171.474609375, 78.75, -88.857421875, -0.191754549741745 ]
[ 0, 188.349609375, 172.880859375, 79.365234375, -88.06640625, 0.21849963068962097 ]
2.733333
82
0
82
0
[ -0.703125, 187.55859375, 170.68359375, 75.9375, -87.275390625, -0.191754549741745 ]
[ 0, 188.349609375, 172.880859375, 79.365234375, -88.2421875, 0.21849963068962097 ]
2.766667
83
0
83
0
[ -0.439453125, 186.15234375, 169.013671875, 72.861328125, -85.78125, -0.191754549741745 ]
[ 0, 188.349609375, 172.880859375, 79.27734375, -88.2421875, 0.21849963068962097 ]
2.8
84
0
84
0
[ -1.142578125, 182.109375, 166.2890625, 69.08203125, -83.759765625, -0.191754549741745 ]
[ 0, 188.26171875, 172.880859375, 78.57421875, -87.978515625, 0.21849963068962097 ]
2.833333
85
0
85
0
[ -2.109375, 174.90234375, 161.3671875, 66.4453125, -80.5078125, -0.191754549741745 ]
[ 0, 188.0859375, 172.880859375, 77.080078125, -87.099609375, 0.21849963068962097 ]
2.866667
86
0
86
0
[ -3.69140625, 165.234375, 154.3359375, 66.09375, -76.728515625, -0.191754549741745 ]
[ -0.087890625, 186.85546875, 172.353515625, 75.146484375, -86.220703125, 0.21849963068962097 ]
2.9
87
0
87
0
[ -4.833984375, 154.86328125, 146.953125, 67.236328125, -72.59765625, -0.191754549741745 ]
[ -0.439453125, 184.5703125, 170.859375, 72.94921875, -84.990234375, 0.21849963068962097 ]
2.933333
88
0
88
0
[ -5.009765625, 147.65625, 141.15234375, 67.1484375, -67.8515625, -0.191754549741745 ]
[ -1.318359375, 181.0546875, 168.486328125, 70.927734375, -82.705078125, 0.21849963068962097 ]
2.966667
89
0
89
0
[ -4.74609375, 142.822265625, 137.109375, 66.357421875, -63.45703125, -0.191754549741745 ]
[ -2.548828125, 176.396484375, 165.05859375, 70.048828125, -80.15625, 0.21849963068962097 ]
3
90
0
90
0
[ -4.5703125, 137.197265625, 132.1875, 67.060546875, -58.88671875, -0.0958772748708725 ]
[ -3.69140625, 170.595703125, 160.83984375, 69.43359375, -77.16796875, 0.21849963068962097 ]
3.033333
91
0
91
0
[ -4.306640625, 131.1328125, 127.177734375, 68.642578125, -54.404296875, -0.191754549741745 ]
[ -4.04296875, 164.00390625, 156.09375, 68.73046875, -73.564453125, 0.21849963068962097 ]
3.066667
92
0
92
0
[ -4.04296875, 126.5625, 123.662109375, 69.345703125, -51.328125, -0.191754549741745 ]
[ -3.955078125, 158.02734375, 151.259765625, 68.5546875, -69.873046875, 0.21849963068962097 ]
3.1
93
0
93
0
[ -3.427734375, 123.046875, 121.201171875, 68.5546875, -48.33984375, -0.191754549741745 ]
[ -3.779296875, 151.34765625, 146.07421875, 68.73046875, -65.7421875, 0.21849963068962097 ]
3.133333
94
0
94
0
[ -2.8125, 118.4765625, 117.94921875, 68.466796875, -45.263671875, -0.191754549741745 ]
[ -3.779296875, 144.4921875, 140.9765625, 69.08203125, -61.787109375, 0.21849963068962097 ]
3.166667
95
0
95
0
[ -2.373046875, 113.642578125, 114.697265625, 68.90625, -43.330078125, 0.76701819896698 ]
[ -3.955078125, 138.1640625, 136.142578125, 69.08203125, -57.83203125, 0.21849963068962097 ]
3.2
96
0
96
0
[ -2.021484375, 109.6875, 112.5, 68.115234375, -41.748046875, 1.3422819375991821 ]
[ -3.779296875, 132.1875, 131.8359375, 69.08203125, -53.96484375, 0.21849963068962097 ]
3.233333
97
0
97
0
[ -1.669921875, 106.083984375, 110.654296875, 66.708984375, -40.693359375, 2.109300136566162 ]
[ -3.427734375, 126.650390625, 128.056640625, 69.08203125, -50.712890625, 0.3641660511493683 ]
3.266667
98
0
98
0
[ -1.494140625, 102.919921875, 109.072265625, 65.830078125, -40.78125, 5.3691277503967285 ]
[ -2.98828125, 121.2890625, 124.27734375, 68.90625, -47.900390625, 0.509832501411438 ]
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": 2,
    "total_frames": 479,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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.top": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
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        },
        "observation.images.wrist": {
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            "shape": [
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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