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Datasets:
sergiov2000
/
so100_leader_arm_push_ball_40

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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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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0
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[ -8.349609375, 159.169921875, 148.447265625, 40.60546875, 4.833984375, 0.8278145790100098 ]
3.55
71
0
71
0
[ -12.216796875, 152.75390625, 139.833984375, 42.978515625, 7.998046875, -0.6134969592094421 ]
[ -9.66796875, 157.412109375, 146.6015625, 41.220703125, 5.888671875, 0.8278145790100098 ]
3.6
72
0
72
0
[ -13.18359375, 151.083984375, 138.33984375, 43.2421875, 8.61328125, -0.6134969592094421 ]
[ -10.810546875, 155.56640625, 144.4921875, 41.8359375, 6.85546875, 0.8278145790100098 ]
3.65
73
0
73
0
[ -14.150390625, 148.88671875, 136.23046875, 44.12109375, 9.404296875, -0.6134969592094421 ]
[ -11.77734375, 153.80859375, 142.734375, 42.5390625, 7.646484375, 0.8278145790100098 ]
3.7
74
0
74
0
[ -15.1171875, 147.041015625, 134.384765625, 44.736328125, 10.458984375, -0.6134969592094421 ]
[ -12.568359375, 151.962890625, 140.80078125, 42.978515625, 8.349609375, 0.8278145790100098 ]
3.75
75
0
75
0
[ -16.435546875, 145.107421875, 132.36328125, 45.52734375, 11.162109375, -0.6134969592094421 ]
[ -13.18359375, 149.677734375, 139.04296875, 43.76953125, 9.31640625, 0.8278145790100098 ]
3.8
76
0
76
0
[ -17.578125, 142.998046875, 130.166015625, 46.669921875, 12.3046875, -0.6134969592094421 ]
[ -14.326171875, 147.3046875, 136.845703125, 44.6484375, 10.107421875, 0.8278145790100098 ]
3.85
77
0
77
0
[ -18.896484375, 141.15234375, 128.232421875, 47.63671875, 13.095703125, -0.6134969592094421 ]
[ -15.64453125, 145.458984375, 135, 45.3515625, 11.162109375, 0.8278145790100098 ]
3.9
78
0
78
0
[ -20.21484375, 139.21875, 126.298828125, 48.69140625, 13.798828125, -0.6134969592094421 ]
[ -17.05078125, 143.525390625, 132.71484375, 46.23046875, 12.041015625, 0.8278145790100098 ]
3.95
79
0
79
0
[ -21.26953125, 137.28515625, 124.365234375, 49.658203125, 14.677734375, -0.6134969592094421 ]
[ -18.369140625, 141.50390625, 131.044921875, 47.197265625, 12.83203125, 0.8278145790100098 ]
4
80
0
80
0
[ -22.1484375, 135.439453125, 122.87109375, 50.44921875, 15.556640625, -0.6134969592094421 ]
[ -19.3359375, 139.39453125, 128.84765625, 48.1640625, 13.623046875, 0.8278145790100098 ]
4.05
81
0
81
0
[ -22.763671875, 133.505859375, 121.728515625, 50.80078125, 16.435546875, -0.6134969592094421 ]
[ -20.302734375, 137.4609375, 127.08984375, 49.130859375, 14.501953125, 0.8278145790100098 ]
4.1
82
0
82
0
[ -23.37890625, 131.66015625, 120.849609375, 51.064453125, 17.138671875, -0.6134969592094421 ]
[ -21.26953125, 135.439453125, 125.68359375, 49.74609375, 15.380859375, 0.8278145790100098 ]
4.15
83
0
83
0
[ -23.90625, 129.638671875, 119.619140625, 51.50390625, 17.9296875, -0.6134969592094421 ]
[ -22.236328125, 133.41796875, 124.541015625, 50.361328125, 16.171875, 0.8278145790100098 ]
4.2
84
0
84
0
[ -24.43359375, 127.353515625, 118.212890625, 52.119140625, 18.6328125, -0.6134969592094421 ]
[ -23.203125, 131.220703125, 123.3984375, 50.80078125, 16.962890625, 0.8278145790100098 ]
4.25
85
0
85
0
[ -24.873046875, 124.892578125, 116.630859375, 52.91015625, 19.423828125, -0.6134969592094421 ]
[ -23.73046875, 129.375, 122.16796875, 51.240234375, 17.666015625, 0.8278145790100098 ]
4.3
86
0
86
0
[ -25.13671875, 122.6953125, 115.048828125, 53.525390625, 19.951171875, -0.6134969592094421 ]
[ -23.818359375, 127.353515625, 120.5859375, 51.767578125, 18.45703125, 0.8278145790100098 ]
4.35
87
0
87
0
[ -25.48828125, 120.5859375, 113.5546875, 54.140625, 20.56640625, -0.6134969592094421 ]
[ -24.08203125, 124.892578125, 118.916015625, 52.55859375, 19.072265625, 0.8278145790100098 ]
4.4
88
0
88
0
[ -25.6640625, 118.4765625, 112.060546875, 54.66796875, 21.005859375, -0.6134969592094421 ]
[ -24.609375, 122.255859375, 117.421875, 53.173828125, 19.6875, 0.8278145790100098 ]
4.45
89
0
89
0
[ -25.927734375, 116.806640625, 111.181640625, 54.931640625, 21.4453125, -0.6134969592094421 ]
[ -25.3125, 120.146484375, 116.015625, 53.7890625, 20.302734375, 0.8278145790100098 ]
4.5
90
0
90
0
[ -26.3671875, 115.400390625, 110.56640625, 54.84375, 21.796875, -0.6134969592094421 ]
[ -25.6640625, 118.037109375, 114.78515625, 54.228515625, 20.7421875, 0.8278145790100098 ]
4.55
91
0
91
0
[ -26.71875, 114.08203125, 110.21484375, 54.580078125, 22.236328125, -0.6134969592094421 ]
[ -25.751953125, 116.19140625, 113.90625, 54.4921875, 21.181640625, 0.8278145790100098 ]
4.6
92
0
92
0
[ -27.0703125, 112.8515625, 110.0390625, 54.31640625, 22.763671875, -0.6134969592094421 ]
[ -25.751953125, 114.609375, 113.37890625, 54.4921875, 21.62109375, 0.8278145790100098 ]
4.65
93
0
93
0
[ -27.421875, 111.708984375, 109.951171875, 54.052734375, 23.115234375, -0.6134969592094421 ]
[ -26.015625, 113.37890625, 113.115234375, 54.4921875, 22.1484375, 0.8278145790100098 ]
4.7
94
0
94
0
[ -27.685546875, 110.56640625, 109.951171875, 53.701171875, 23.73046875, -0.6134969592094421 ]
[ -26.71875, 112.1484375, 112.763671875, 54.4921875, 22.5, 0.8278145790100098 ]
4.75
95
0
95
0
[ -27.94921875, 109.775390625, 109.951171875, 53.349609375, 24.169921875, -0.6134969592094421 ]
[ -27.421875, 110.91796875, 112.67578125, 54.4921875, 23.02734375, 0.8278145790100098 ]
4.8
96
0
96
0
[ -28.125, 108.984375, 109.951171875, 52.998046875, 24.609375, -0.6134969592094421 ]
[ -27.59765625, 109.6875, 112.587890625, 54.31640625, 23.5546875, 0.8278145790100098 ]
4.85
97
0
97
0
[ -28.212890625, 108.28125, 109.951171875, 52.822265625, 24.873046875, -0.6134969592094421 ]
[ -27.509765625, 109.16015625, 112.587890625, 53.96484375, 23.994140625, 0.8278145790100098 ]
4.9
98
0
98
0
[ -28.212890625, 107.75390625, 110.0390625, 52.646484375, 25.048828125, -0.6134969592094421 ]
[ -27.333984375, 108.28125, 112.5, 53.701171875, 24.345703125, 0.8278145790100098 ]
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": {
            "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.above": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
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            "info": {
                "video.fps": 20.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.side": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 20.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "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": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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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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Number of rows:
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