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Datasets:
sergiov2000
/
so100_leader_arm_pick_ball_40

Tasks:
Robotics
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Tabular
Time-series
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Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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action
list
observation.state
list
timestamp
float32
0
29.9
frame_index
int64
0
598
episode_index
int64
0
39
index
int64
0
24k
task_index
int64
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[ -3.515625, 87.451171875, 100.458984375, 55.634765625, -0.3515625, 25.91059684753418 ]
3.55
71
0
71
0
[ -5.185546875, 88.505859375, 101.513671875, 53.26171875, 0.087890625, 17.893659591674805 ]
[ -3.69140625, 87.451171875, 100.72265625, 55.01953125, -0.3515625, 23.758277893066406 ]
3.6
72
0
72
0
[ -5.185546875, 89.384765625, 102.83203125, 52.55859375, -0.087890625, 15.235174179077148 ]
[ -3.8671875, 87.5390625, 101.337890625, 54.4921875, -0.263671875, 22.433774948120117 ]
3.65
73
0
73
0
[ -5.361328125, 90.703125, 104.4140625, 51.591796875, -0.966796875, 10.122699737548828 ]
[ -3.8671875, 87.626953125, 102.041015625, 53.701171875, -0.263671875, 19.70198631286621 ]
3.7
74
0
74
0
[ -5.44921875, 92.373046875, 105.64453125, 50.888671875, -1.58203125, 6.134969234466553 ]
[ -3.8671875, 88.154296875, 103.359375, 52.55859375, -0.263671875, 17.052980422973633 ]
3.75
75
0
75
0
[ -5.625, 94.130859375, 106.171875, 50.9765625, -2.109375, 2.1472392082214355 ]
[ -4.04296875, 89.12109375, 104.501953125, 51.591796875, -0.791015625, 13.327814102172852 ]
3.8
76
0
76
0
[ -5.625, 95.712890625, 106.171875, 51.50390625, -2.4609375, -0.6134969592094421 ]
[ -4.306640625, 90.439453125, 105.29296875, 51.328125, -1.318359375, 9.76821231842041 ]
3.85
77
0
77
0
[ -5.625, 97.646484375, 106.171875, 52.55859375, -2.548828125, -0.7157464027404785 ]
[ -4.39453125, 91.845703125, 105.8203125, 51.240234375, -1.7578125, 6.622516632080078 ]
3.9
78
0
78
0
[ -5.80078125, 99.931640625, 105.99609375, 53.525390625, -2.724609375, -0.7157464027404785 ]
[ -4.5703125, 93.076171875, 106.083984375, 51.416015625, -2.109375, 4.966887474060059 ]
3.95
79
0
79
0
[ -6.15234375, 102.12890625, 105.380859375, 55.107421875, -3.076171875, -0.7157464027404785 ]
[ -4.658203125, 94.5703125, 106.171875, 52.03125, -2.28515625, 4.470198631286621 ]
4
80
0
80
0
[ -6.6796875, 104.326171875, 103.271484375, 57.919921875, -2.900390625, -0.7157464027404785 ]
[ -5.009765625, 96.328125, 106.34765625, 53.7890625, -2.373046875, 4.139072895050049 ]
4.05
81
0
81
0
[ -7.3828125, 106.787109375, 101.162109375, 60.29296875, -2.900390625, -0.7157464027404785 ]
[ -5.537109375, 97.998046875, 106.083984375, 54.755859375, -2.548828125, 3.9735100269317627 ]
4.1
82
0
82
0
[ -8.4375, 108.984375, 98.61328125, 62.841796875, -2.63671875, -0.7157464027404785 ]
[ -6.328125, 100.01953125, 105.1171875, 57.12890625, -2.548828125, 3.89072847366333 ]
4.15
83
0
83
0
[ -10.01953125, 110.56640625, 95.712890625, 65.390625, -2.4609375, -0.7157464027404785 ]
[ -7.119140625, 102.3046875, 103.359375, 59.150390625, -2.548828125, 3.89072847366333 ]
4.2
84
0
84
0
[ -12.12890625, 111.708984375, 92.109375, 68.115234375, -1.845703125, -0.7157464027404785 ]
[ -7.822265625, 104.677734375, 100.8984375, 61.69921875, -2.548828125, 3.89072847366333 ]
4.25
85
0
85
0
[ -14.853515625, 111.97265625, 87.5390625, 71.279296875, -1.0546875, -0.7157464027404785 ]
[ -9.052734375, 106.435546875, 97.822265625, 64.248046875, -2.548828125, 3.89072847366333 ]
4.3
86
0
86
0
[ -17.841796875, 111.97265625, 82.96875, 73.740234375, 0.087890625, -0.7157464027404785 ]
[ -10.986328125, 107.666015625, 94.21875, 66.97265625, -2.197265625, 3.89072847366333 ]
4.35
87
0
87
0
[ -21.09375, 111.97265625, 79.013671875, 75.234375, 1.142578125, -0.7157464027404785 ]
[ -13.447265625, 108.193359375, 90, 69.873046875, -1.40625, 3.89072847366333 ]
4.4
88
0
88
0
[ -24.521484375, 111.796875, 75.76171875, 76.11328125, 2.197265625, -0.7157464027404785 ]
[ -16.435546875, 108.369140625, 85.693359375, 72.333984375, -0.439453125, 3.89072847366333 ]
4.45
89
0
89
0
[ -28.30078125, 111.62109375, 73.4765625, 76.46484375, 3.1640625, -0.7157464027404785 ]
[ -19.51171875, 108.369140625, 82.001953125, 74.091796875, 0.52734375, 3.8079469203948975 ]
4.5
90
0
90
0
[ -31.904296875, 111.26953125, 72.0703125, 76.552734375, 3.779296875, -0.7157464027404785 ]
[ -22.763671875, 108.369140625, 79.1015625, 75.322265625, 1.58203125, 3.8079469203948975 ]
4.55
91
0
91
0
[ -35.68359375, 111.005859375, 71.54296875, 76.46484375, 4.482421875, -0.7157464027404785 ]
[ -26.279296875, 108.369140625, 76.904296875, 75.9375, 2.4609375, 3.8079469203948975 ]
4.6
92
0
92
0
[ -39.462890625, 110.7421875, 71.630859375, 76.201171875, 5.009765625, -0.7157464027404785 ]
[ -29.970703125, 108.369140625, 75.498046875, 76.201171875, 3.251953125, 3.8079469203948975 ]
4.65
93
0
93
0
[ -42.802734375, 110.0390625, 72.0703125, 75.9375, 5.712890625, -0.7157464027404785 ]
[ -33.57421875, 108.369140625, 75.05859375, 76.201171875, 3.955078125, 3.8079469203948975 ]
4.7
94
0
94
0
[ -45.87890625, 108.80859375, 72.24609375, 75.9375, 6.240234375, -0.7157464027404785 ]
[ -37.177734375, 108.369140625, 74.970703125, 76.201171875, 4.658203125, 3.8079469203948975 ]
4.75
95
0
95
0
[ -48.69140625, 107.40234375, 72.59765625, 75.76171875, 6.943359375, -0.7157464027404785 ]
[ -40.78125, 108.28125, 74.970703125, 76.2890625, 5.185546875, 3.8079469203948975 ]
4.8
96
0
96
0
[ -50.80078125, 105.46875, 72.685546875, 75.673828125, 7.734375, -0.7157464027404785 ]
[ -44.208984375, 107.75390625, 74.8828125, 76.2890625, 5.888671875, 3.8079469203948975 ]
4.85
97
0
97
0
[ -52.03125, 103.18359375, 72.685546875, 75.322265625, 8.4375, -0.7157464027404785 ]
[ -47.4609375, 106.787109375, 74.8828125, 76.2890625, 6.591796875, 3.8079469203948975 ]
4.9
98
0
98
0
[ -52.55859375, 100.8984375, 72.685546875, 74.794921875, 8.876953125, -0.7157464027404785 ]
[ -49.658203125, 105.029296875, 74.8828125, 76.2890625, 7.294921875, 3.725165605545044 ]
4.95
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": 40,
    "total_frames": 23960,
    "total_tasks": 1,
    "total_videos": 80,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:40"
    },
    "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": {
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            "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.above": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
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            "names": [
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                "video.codec": "h264",
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        "observation.images.side": {
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            "names": [
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            ],
            "info": {
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                "video.channels": 3,
                "video.codec": "h264",
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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