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so100_test2

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observation.state
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[ -35.33203125, -186.943359375, 137.900390625, 79.716796875, 87.626953125, 56.529518127441406 ]
3.066667
92
0
92
0
[ 1663, 2191, 2693, 2784, 1135, 2536 ]
[ -36.474609375, -187.470703125, 138.69140625, 78.662109375, 87.890625, 56.529518127441406 ]
3.1
93
0
93
0
[ 1656, 2204, 2706, 2765, 1128, 2536 ]
[ -37.6171875, -187.998046875, 139.74609375, 77.080078125, 88.681640625, 56.529518127441406 ]
3.133333
94
0
94
0
[ 1650, 2211, 2719, 2752, 1122, 2536 ]
[ -38.759765625, -188.525390625, 141.15234375, 75.673828125, 89.296875, 56.529518127441406 ]
3.166667
95
0
95
0
[ 1637, 2217, 2745, 2719, 1108, 2536 ]
[ -39.638671875, -189.66796875, 142.20703125, 74.35546875, 89.912109375, 56.529518127441406 ]
3.2
96
0
96
0
[ 1637, 2224, 2758, 2706, 1095, 2536 ]
[ -40.341796875, -190.37109375, 143.4375, 72.861328125, 90.439453125, 56.529518127441406 ]
3.233333
97
0
97
0
[ 1630, 2237, 2777, 2680, 1082, 2536 ]
[ -41.220703125, -190.810546875, 144.931640625, 71.3671875, 91.40625, 56.529518127441406 ]
3.266667
98
0
98
0
[ 1617, 2250, 2804, 2648, 1069, 2536 ]
[ -41.748046875, -191.513671875, 146.513671875, 69.345703125, 92.4609375, 56.529518127441406 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 2,
    "total_frames": 699,
    "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": [
                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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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