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Datasets:
masato-ka
/
stacking_block_wrist

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
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parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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sequence
observation.state
sequence
timestamp
float32
0
29.9
frame_index
int64
0
897
episode_index
int64
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29
index
int64
0
26.9k
task_index
int64
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2.566667
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0
77
0
[ 5.09765625, 189.4921875, 179.560546875, 39.0234375, 8.7890625, -0.09633911401033401 ]
[ 4.130859375, 189.140625, 180, 41.30859375, 7.91015625, 2.557319164276123 ]
2.6
78
0
78
0
[ 5.185546875, 189.4921875, 179.384765625, 39.7265625, 9.580078125, -0.09633911401033401 ]
[ 4.658203125, 189.140625, 180.087890625, 40.869140625, 8.349609375, 4.320987701416016 ]
2.633333
79
0
79
0
[ 5.09765625, 189.580078125, 178.9453125, 40.78125, 11.6015625, -0.09633911401033401 ]
[ 4.921875, 189.140625, 180.087890625, 40.4296875, 8.349609375, 4.585537910461426 ]
2.666667
80
0
80
0
[ 4.833984375, 189.580078125, 178.59375, 42.099609375, 14.4140625, -0.19267822802066803 ]
[ 4.921875, 189.140625, 180.087890625, 40.4296875, 8.7890625, 4.0564374923706055 ]
2.7
81
0
81
0
[ 4.306640625, 189.580078125, 178.06640625, 43.06640625, 15.99609375, -0.19267822802066803 ]
[ 4.74609375, 189.140625, 180.087890625, 40.693359375, 9.66796875, 2.3809523582458496 ]
2.733333
82
0
82
0
[ 3.955078125, 189.4921875, 177.099609375, 44.560546875, 19.072265625, -0.19267822802066803 ]
[ 4.5703125, 189.140625, 180.087890625, 41.572265625, 11.337890625, 1.4109346866607666 ]
2.766667
83
0
83
0
[ 3.33984375, 188.7890625, 175.4296875, 45.87890625, 22.060546875, -0.28901731967926025 ]
[ 4.482421875, 189.140625, 180.087890625, 42.36328125, 13.271484375, 0.9700176119804382 ]
2.8
84
0
84
0
[ 2.8125, 186.767578125, 173.056640625, 46.7578125, 24.169921875, -0.28901731967926025 ]
[ 4.482421875, 189.140625, 180, 43.41796875, 15.380859375, 0.7054673433303833 ]
2.833333
85
0
85
0
[ 2.109375, 184.306640625, 170.244140625, 47.8125, 25.3125, -0.28901731967926025 ]
[ 4.306640625, 188.96484375, 179.47265625, 44.560546875, 17.75390625, 0.5291005373001099 ]
2.866667
86
0
86
0
[ 1.93359375, 181.494140625, 166.9921875, 49.130859375, 26.806640625, -0.28901731967926025 ]
[ 3.779296875, 188.26171875, 178.41796875, 45.703125, 20.126953125, 0.44091710448265076 ]
2.9
87
0
87
0
[ 2.197265625, 178.505859375, 163.740234375, 50.888671875, 28.212890625, -0.28901731967926025 ]
[ 2.98828125, 186.6796875, 176.484375, 46.845703125, 22.412109375, 0.35273367166519165 ]
2.933333
88
0
88
0
[ 2.373046875, 175.341796875, 160.576171875, 52.119140625, 28.740234375, -0.28901731967926025 ]
[ 2.197265625, 184.74609375, 174.375, 47.98828125, 24.08203125, 0.35273367166519165 ]
2.966667
89
0
89
0
[ 2.373046875, 172.265625, 157.587890625, 52.822265625, 29.091796875, -0.09633911401033401 ]
[ 2.021484375, 182.373046875, 171.9140625, 49.21875, 25.576171875, 0.35273367166519165 ]
3
90
0
90
0
[ 2.4609375, 169.1015625, 154.775390625, 53.26171875, 29.443359375, -0.09633911401033401 ]
[ 2.109375, 179.82421875, 169.1015625, 50.537109375, 26.806640625, 0.35273367166519165 ]
3.033333
91
0
91
0
[ 2.4609375, 166.025390625, 152.314453125, 53.349609375, 29.091796875, -0.09633911401033401 ]
[ 2.28515625, 177.01171875, 166.2890625, 51.6796875, 27.59765625, 0.35273367166519165 ]
3.066667
92
0
92
0
[ 2.4609375, 162.7734375, 149.677734375, 53.173828125, 28.65234375, -0.09633911401033401 ]
[ 2.28515625, 174.19921875, 163.388671875, 52.470703125, 28.212890625, 0.35273367166519165 ]
3.1
93
0
93
0
[ 2.373046875, 159.521484375, 147.12890625, 53.0859375, 28.388671875, -0.09633911401033401 ]
[ 2.28515625, 171.123046875, 160.576171875, 52.91015625, 28.388671875, 0.35273367166519165 ]
3.133333
94
0
94
0
[ 2.021484375, 156.62109375, 144.66796875, 52.998046875, 28.037109375, -0.09633911401033401 ]
[ 2.28515625, 168.310546875, 157.8515625, 52.91015625, 28.388671875, 0.35273367166519165 ]
3.166667
95
0
95
0
[ 1.494140625, 153.544921875, 142.119140625, 52.998046875, 27.7734375, -0.09633911401033401 ]
[ 2.28515625, 164.8828125, 154.951171875, 52.91015625, 28.388671875, 0.35273367166519165 ]
3.2
96
0
96
0
[ 0.87890625, 150.46875, 139.74609375, 52.91015625, 27.685546875, -0.19267822802066803 ]
[ 2.28515625, 161.982421875, 152.490234375, 52.91015625, 28.388671875, 0.35273367166519165 ]
3.233333
97
0
97
0
[ 0.3515625, 147.392578125, 137.4609375, 53.26171875, 27.94921875, -0.19267822802066803 ]
[ 2.28515625, 158.73046875, 149.853515625, 52.998046875, 28.30078125, 0.35273367166519165 ]
3.266667
98
0
98
0
[ -0.52734375, 144.4921875, 135.17578125, 53.701171875, 27.7734375, -0.28901731967926025 ]
[ 1.93359375, 155.654296875, 147.3046875, 52.998046875, 28.30078125, 0.35273367166519165 ]
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": 10,
    "total_frames": 8974,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.images.wrist.right": {
            "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                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": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
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