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masato-ka
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so100_sandbox_test

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Robotics
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so100
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action
sequence
observation.state
sequence
timestamp
float32
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28.8
frame_index
int64
0
863
episode_index
int64
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0
index
int64
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863
task_index
int64
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[ 31.552734375, 113.466796875, 105.1171875, 42.71484375, 0, 20.13487434387207 ]
[ 30.234375, 119.619140625, 115.13671875, 42.451171875, -0.703125, 19.66490364074707, 0 ]
2.4
72
0
72
0
[ 31.81640625, 111.62109375, 103.18359375, 43.2421875, 0.087890625, 20.23121452331543 ]
[ 30.673828125, 117.421875, 113.291015625, 42.451171875, -0.439453125, 19.66490364074707, 0 ]
2.433333
73
0
73
0
[ 31.9921875, 110.0390625, 101.6015625, 43.505859375, 0.087890625, 20.23121452331543 ]
[ 30.9375, 115.400390625, 111.26953125, 42.626953125, -0.263671875, 19.66490364074707, 0 ]
2.466667
74
0
74
0
[ 32.16796875, 108.80859375, 100.458984375, 43.59375, 0.087890625, 20.23121452331543 ]
[ 31.2890625, 113.291015625, 109.3359375, 42.978515625, -0.087890625, 19.66490364074707, 0 ]
2.5
75
0
75
0
[ 32.34375, 107.490234375, 99.31640625, 43.59375, 0.17578125, 20.23121452331543 ]
[ 31.552734375, 111.4453125, 107.490234375, 43.330078125, -0.087890625, 19.66490364074707, 0 ]
2.533333
76
0
76
0
[ 32.607421875, 106.171875, 97.998046875, 43.59375, 0.263671875, 20.13487434387207 ]
[ 31.728515625, 109.775390625, 105.908203125, 43.41796875, -0.087890625, 19.66490364074707, 0 ]
2.566667
77
0
77
0
[ 32.6953125, 104.501953125, 96.416015625, 43.681640625, 0.3515625, 20.13487434387207 ]
[ 31.9921875, 108.193359375, 104.501953125, 43.505859375, -0.087890625, 19.66490364074707, 0 ]
2.6
78
0
78
0
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[ 32.16796875, 106.69921875, 103.18359375, 43.505859375, -0.087890625, 19.66490364074707, 0 ]
2.633333
79
0
79
0
[ 32.87109375, 100.810546875, 92.373046875, 45.17578125, 0, 20.13487434387207 ]
[ 32.34375, 105.1171875, 101.689453125, 43.505859375, -0.087890625, 19.66490364074707, 0 ]
2.666667
80
0
80
0
[ 32.87109375, 99.140625, 90.703125, 45.87890625, -0.3515625, 20.327552795410156 ]
[ 32.51953125, 103.447265625, 100.107421875, 43.9453125, -0.087890625, 19.66490364074707, 0 ]
2.7
81
0
81
0
[ 32.87109375, 98.0859375, 89.736328125, 46.0546875, -0.615234375, 20.327552795410156 ]
[ 32.51953125, 101.689453125, 98.173828125, 44.560546875, -0.087890625, 19.66490364074707, 0 ]
2.733333
82
0
82
0
[ 32.87109375, 97.294921875, 89.296875, 45.966796875, -0.703125, 20.423892974853516 ]
[ 32.51953125, 99.931640625, 96.50390625, 45.263671875, -0.087890625, 19.66490364074707, 0 ]
2.766667
83
0
83
0
[ 32.87109375, 96.85546875, 89.12109375, 45.439453125, -0.703125, 20.423892974853516 ]
[ 32.51953125, 98.4375, 95.009765625, 45.615234375, -0.087890625, 19.66490364074707, 0 ]
2.8
84
0
84
0
[ 32.87109375, 96.416015625, 89.033203125, 45.087890625, -0.615234375, 20.423892974853516 ]
[ 32.51953125, 97.20703125, 93.955078125, 45.703125, -0.263671875, 19.75308609008789, 0 ]
2.833333
85
0
85
0
[ 32.958984375, 96.064453125, 88.76953125, 44.82421875, -0.52734375, 20.423892974853516 ]
[ 32.51953125, 96.416015625, 93.33984375, 45.703125, -0.3515625, 19.929452896118164, 0 ]
2.866667
86
0
86
0
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[ 32.51953125, 95.888671875, 92.900390625, 45.703125, -0.439453125, 20.017637252807617, 0 ]
2.9
87
0
87
0
[ 32.958984375, 95.2734375, 88.154296875, 44.47265625, -0.17578125, 20.423892974853516 ]
[ 32.51953125, 95.44921875, 92.4609375, 45.703125, -0.439453125, 20.017637252807617, 0 ]
2.933333
88
0
88
0
[ 32.958984375, 94.74609375, 87.802734375, 44.384765625, 0.087890625, 20.423892974853516 ]
[ 32.51953125, 95.009765625, 92.109375, 45.3515625, -0.439453125, 20.017637252807617, 0 ]
2.966667
89
0
89
0
[ 32.958984375, 94.482421875, 87.451171875, 44.384765625, 0.263671875, 20.423892974853516 ]
[ 32.51953125, 94.5703125, 91.669921875, 45.263671875, -0.439453125, 20.017637252807617, 0 ]
3
90
0
90
0
[ 32.87109375, 94.21875, 87.275390625, 44.384765625, 0.615234375, 20.423892974853516 ]
[ 32.51953125, 94.04296875, 91.318359375, 45.087890625, -0.3515625, 20.017637252807617, 0 ]
3.033333
91
0
91
0
[ 32.87109375, 94.04296875, 87.099609375, 44.296875, 0.87890625, 20.327552795410156 ]
[ 32.51953125, 93.69140625, 90.966796875, 45.087890625, -0.17578125, 20.017637252807617, 0 ]
3.066667
92
0
92
0
[ 32.87109375, 93.8671875, 86.923828125, 44.12109375, 1.142578125, 20.327552795410156 ]
[ 32.51953125, 93.427734375, 90.791015625, 45.087890625, 0.263671875, 20.017637252807617, 0 ]
3.1
93
0
93
0
[ 32.958984375, 93.427734375, 86.66015625, 44.033203125, 1.40625, 20.327552795410156 ]
[ 32.51953125, 93.1640625, 90.52734375, 45.087890625, 0.615234375, 20.017637252807617, 0 ]
3.133333
94
0
94
0
[ 32.958984375, 92.900390625, 86.220703125, 44.033203125, 1.494140625, 20.327552795410156 ]
[ 32.51953125, 92.98828125, 90.3515625, 45.087890625, 0.87890625, 20.017637252807617, 0 ]
3.166667
95
0
95
0
[ 33.046875, 92.373046875, 85.869140625, 44.033203125, 1.669921875, 20.327552795410156 ]
[ 32.51953125, 92.724609375, 90.087890625, 45.087890625, 1.142578125, 20.017637252807617, 0 ]
3.2
96
0
96
0
[ 33.134765625, 92.021484375, 85.693359375, 43.9453125, 1.845703125, 20.327552795410156 ]
[ 32.51953125, 92.197265625, 89.736328125, 45.087890625, 1.318359375, 20.017637252807617, 0 ]
3.233333
97
0
97
0
[ 33.22265625, 91.7578125, 85.693359375, 43.9453125, 1.93359375, 20.423892974853516 ]
[ 32.607421875, 91.669921875, 89.296875, 45.087890625, 1.494140625, 20.017637252807617, 0 ]
3.266667
98
0
98
0
[ 33.3984375, 91.58203125, 85.693359375, 43.857421875, 1.93359375, 20.423892974853516 ]
[ 32.6953125, 91.142578125, 89.12109375, 45.087890625, 1.7578125, 20.017637252807617, 0 ]
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": 864,
    "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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper",
                "condition"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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                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
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "shape": [
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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