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kozakvoj
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so101_test

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Robotics
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LeRobot
so101
tutorial
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action
sequence
observation.state
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timestamp
float32
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19.3
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int64
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episode_index
int64
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index
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task_index
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[ 3.076171875, 47.724609375, 8.349609375, 99.66796875, -23.37890625, -1.1035653352737427 ]
[ 6.591796875, 41.484375, 9.931640625, 99.052734375, -23.642578125, 2.904564380645752 ]
2.466667
74
0
74
0
[ 1.7578125, 48.515625, 8.349609375, 99.66796875, -23.37890625, -1.1035653352737427 ]
[ 5.361328125, 42.099609375, 9.931640625, 99.052734375, -23.642578125, 2.904564380645752 ]
2.5
75
0
75
0
[ 0.615234375, 49.21875, 8.349609375, 99.66796875, -23.37890625, -1.1035653352737427 ]
[ 4.04296875, 42.890625, 9.931640625, 99.052734375, -23.642578125, 2.904564380645752 ]
2.533333
76
0
76
0
[ -0.615234375, 50.009765625, 8.349609375, 99.66796875, -23.37890625, -1.1035653352737427 ]
[ 2.63671875, 43.9453125, 9.931640625, 99.052734375, -23.642578125, 2.904564380645752 ]
2.566667
77
0
77
0
[ -1.845703125, 50.888671875, 8.349609375, 99.84375, -23.291015625, -1.1035653352737427 ]
[ 1.23046875, 44.82421875, 9.931640625, 99.052734375, -23.642578125, 2.904564380645752 ]
2.6
78
0
78
0
[ -2.8125, 51.943359375, 8.349609375, 99.84375, -23.203125, -1.1035653352737427 ]
[ 0.087890625, 45.52734375, 9.931640625, 99.052734375, -23.642578125, 2.904564380645752 ]
2.633333
79
0
79
0
[ -3.8671875, 52.998046875, 8.349609375, 99.931640625, -22.5, -1.1035653352737427 ]
[ -1.23046875, 46.494140625, 9.931640625, 99.052734375, -23.642578125, 2.904564380645752 ]
2.666667
80
0
80
0
[ -4.921875, 54.140625, 8.4375, 99.931640625, -21.533203125, -1.1035653352737427 ]
[ -2.28515625, 47.373046875, 9.931640625, 99.228515625, -23.5546875, 2.904564380645752 ]
2.7
81
0
81
0
[ -5.9765625, 55.1953125, 8.701171875, 100.01953125, -20.7421875, -1.1035653352737427 ]
[ -3.33984375, 48.515625, 9.931640625, 99.228515625, -23.02734375, 2.904564380645752 ]
2.733333
82
0
82
0
[ -7.03125, 56.162109375, 9.66796875, 100.01953125, -20.21484375, -1.1035653352737427 ]
[ -4.21875, 49.658203125, 9.931640625, 99.31640625, -22.236328125, 2.904564380645752 ]
2.766667
83
0
83
0
[ -7.998046875, 57.216796875, 11.07421875, 100.01953125, -19.775390625, -1.1035653352737427 ]
[ -4.921875, 50.712890625, 10.01953125, 99.404296875, -21.533203125, 2.904564380645752 ]
2.8
84
0
84
0
[ -8.876953125, 58.271484375, 12.744140625, 100.107421875, -19.3359375, -1.1035653352737427 ]
[ -5.9765625, 51.943359375, 10.810546875, 99.404296875, -20.91796875, 2.904564380645752 ]
2.833333
85
0
85
0
[ -9.755859375, 59.58984375, 14.765625, 100.107421875, -18.80859375, -1.1035653352737427 ]
[ -6.943359375, 52.91015625, 11.6015625, 99.404296875, -20.390625, 2.904564380645752 ]
2.866667
86
0
86
0
[ -10.546875, 60.99609375, 16.875, 100.107421875, -18.10546875, -1.1035653352737427 ]
[ -7.91015625, 53.96484375, 13.0078125, 99.404296875, -19.951171875, 2.904564380645752 ]
2.9
87
0
87
0
[ -11.42578125, 62.578125, 19.51171875, 100.01953125, -17.314453125, -1.1035653352737427 ]
[ -9.140625, 55.458984375, 15.1171875, 99.404296875, -19.3359375, 2.904564380645752 ]
2.933333
88
0
88
0
[ -12.216796875, 64.16015625, 22.1484375, 100.01953125, -16.611328125, -1.1035653352737427 ]
[ -10.37109375, 56.6015625, 17.138671875, 99.404296875, -18.6328125, 2.904564380645752 ]
2.966667
89
0
89
0
[ -13.0078125, 65.56640625, 24.697265625, 99.931640625, -16.083984375, -1.1035653352737427 ]
[ -11.162109375, 57.919921875, 19.16015625, 99.404296875, -17.9296875, 2.904564380645752 ]
3
90
0
90
0
[ -13.974609375, 67.1484375, 27.685546875, 99.931640625, -15.46875, -1.1035653352737427 ]
[ -12.041015625, 59.677734375, 21.708984375, 99.404296875, -17.40234375, 2.904564380645752 ]
3.033333
91
0
91
0
[ -14.765625, 68.466796875, 30.498046875, 99.931640625, -14.853515625, -1.1035653352737427 ]
[ -12.65625, 60.99609375, 24.2578125, 99.404296875, -16.787109375, 2.904564380645752 ]
3.066667
92
0
92
0
[ -15.64453125, 69.873046875, 33.22265625, 99.931640625, -14.326171875, -1.1035653352737427 ]
[ -13.095703125, 62.490234375, 26.89453125, 99.404296875, -16.171875, 2.904564380645752 ]
3.1
93
0
93
0
[ -16.611328125, 71.3671875, 35.859375, 99.84375, -13.623046875, -1.1035653352737427 ]
[ -13.798828125, 63.984375, 29.619140625, 99.404296875, -15.556640625, 2.904564380645752 ]
3.133333
94
0
94
0
[ -17.490234375, 72.7734375, 38.408203125, 99.755859375, -13.0078125, -1.1035653352737427 ]
[ -14.765625, 65.302734375, 32.080078125, 99.404296875, -14.677734375, 2.904564380645752 ]
3.166667
95
0
95
0
[ -18.544921875, 74.267578125, 40.869140625, 99.755859375, -12.3046875, -1.1035653352737427 ]
[ -15.732421875, 66.884765625, 35.15625, 99.404296875, -14.4140625, 2.904564380645752 ]
3.2
96
0
96
0
[ -19.423828125, 75.5859375, 43.41796875, 99.66796875, -11.513671875, -1.1035653352737427 ]
[ -16.69921875, 68.37890625, 37.79296875, 99.404296875, -13.447265625, 2.904564380645752 ]
3.233333
97
0
97
0
[ -20.21484375, 76.904296875, 45.703125, 99.66796875, -10.72265625, -1.1035653352737427 ]
[ -17.841796875, 69.697265625, 39.90234375, 99.404296875, -13.18359375, 2.904564380645752 ]
3.266667
98
0
98
0
[ -20.91796875, 77.958984375, 47.900390625, 99.580078125, -9.931640625, -1.1035653352737427 ]
[ -18.984375, 71.015625, 42.1875, 99.404296875, -12.392578125, 2.904564380645752 ]
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": "so101",
    "total_episodes": 1,
    "total_frames": 580,
    "total_tasks": 1,
    "total_videos": 1,
    "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.front": {
            "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": [
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            "names": null
        },
        "index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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