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Datasets:
sergiov2000
/
so100_leader_ball_usability_u2_stack_1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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pandas
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observation.state
list
timestamp
float32
0
59.9
frame_index
int64
0
1.2k
episode_index
int64
0
0
index
int64
0
1.2k
task_index
int64
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3.3
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3.35
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3.4
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3.45
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3.5
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3.55
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3.6
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3.65
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3.7
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74
0
[ 1.669921875, 178.330078125, 176.30859375, 33.486328125, -3.427734375, -0.7157464027404785 ]
[ 1.494140625, 181.142578125, 181.23046875, 33.662109375, -2.548828125, 0.9105960130691528 ]
3.75
75
0
75
0
[ 1.669921875, 177.451171875, 175.166015625, 33.57421875, -3.69140625, -0.7157464027404785 ]
[ 1.494140625, 180.087890625, 180.3515625, 33.662109375, -2.8125, 0.9105960130691528 ]
3.8
76
0
76
0
[ 1.669921875, 176.66015625, 173.935546875, 33.92578125, -3.779296875, -0.7157464027404785 ]
[ 1.494140625, 178.9453125, 179.208984375, 33.662109375, -2.98828125, 0.9105960130691528 ]
3.85
77
0
77
0
[ 1.318359375, 175.4296875, 171.826171875, 34.892578125, -3.69140625, -0.7157464027404785 ]
[ 1.494140625, 177.978515625, 177.978515625, 33.75, -3.251953125, 0.9105960130691528 ]
3.9
78
0
78
0
[ 0.87890625, 173.759765625, 169.453125, 35.947265625, -3.603515625, -0.7157464027404785 ]
[ 1.494140625, 177.099609375, 176.748046875, 34.1015625, -3.33984375, 0.9105960130691528 ]
3.95
79
0
79
0
[ 0.52734375, 171.9140625, 166.9921875, 36.826171875, -3.427734375, -0.7157464027404785 ]
[ 1.494140625, 175.693359375, 174.814453125, 34.892578125, -3.33984375, 0.9105960130691528 ]
4
80
0
80
0
[ 0.087890625, 169.98046875, 164.443359375, 37.880859375, -3.251953125, -0.7157464027404785 ]
[ 1.0546875, 174.111328125, 172.880859375, 35.859375, -3.33984375, 0.9105960130691528 ]
4.05
81
0
81
0
[ -0.439453125, 168.22265625, 162.24609375, 39.0234375, -3.251953125, -0.7157464027404785 ]
[ 0.3515625, 172.529296875, 170.5078125, 36.73828125, -3.33984375, 0.9105960130691528 ]
4.1
82
0
82
0
[ -1.23046875, 166.81640625, 159.697265625, 40.693359375, -3.251953125, -0.7157464027404785 ]
[ -0.087890625, 170.771484375, 167.958984375, 37.6171875, -3.33984375, 0.9105960130691528 ]
4.15
83
0
83
0
[ -2.021484375, 165.5859375, 157.412109375, 42.275390625, -2.98828125, -0.7157464027404785 ]
[ -0.263671875, 169.189453125, 165.673828125, 38.84765625, -3.33984375, 0.9105960130691528 ]
4.2
84
0
84
0
[ -3.1640625, 164.1796875, 154.951171875, 44.208984375, -2.98828125, -0.7157464027404785 ]
[ -0.703125, 167.34375, 163.30078125, 40.341796875, -3.33984375, 0.9105960130691528 ]
4.25
85
0
85
0
[ -4.04296875, 162.7734375, 152.666015625, 45.87890625, -2.98828125, -0.7157464027404785 ]
[ -1.93359375, 165.849609375, 160.927734375, 41.66015625, -3.33984375, 0.9105960130691528 ]
4.3
86
0
86
0
[ -5.09765625, 160.83984375, 150.46875, 47.4609375, -3.1640625, -0.7157464027404785 ]
[ -3.1640625, 164.619140625, 158.37890625, 43.681640625, -3.33984375, 0.9105960130691528 ]
4.35
87
0
87
0
[ -6.15234375, 158.818359375, 148.271484375, 49.130859375, -3.33984375, -0.7157464027404785 ]
[ -3.69140625, 163.30078125, 156.181640625, 45.263671875, -3.33984375, 0.9105960130691528 ]
4.4
88
0
88
0
[ -7.20703125, 157.236328125, 146.25, 50.9765625, -3.076171875, -0.7157464027404785 ]
[ -4.39453125, 161.455078125, 153.720703125, 46.845703125, -3.33984375, 0.9105960130691528 ]
4.45
89
0
89
0
[ -7.646484375, 156.005859375, 144.84375, 51.50390625, -2.197265625, -0.7157464027404785 ]
[ -6.064453125, 159.521484375, 151.611328125, 48.515625, -3.33984375, 0.9105960130691528 ]
4.5
90
0
90
0
[ -8.26171875, 154.951171875, 143.876953125, 51.767578125, -1.93359375, -0.7157464027404785 ]
[ -6.943359375, 157.8515625, 149.4140625, 50.009765625, -3.427734375, 0.9105960130691528 ]
4.55
91
0
91
0
[ -9.052734375, 153.80859375, 142.998046875, 51.943359375, -2.4609375, -0.7157464027404785 ]
[ -7.119140625, 156.533203125, 147.919921875, 50.888671875, -2.724609375, 0.9105960130691528 ]
4.6
92
0
92
0
[ -9.931640625, 152.2265625, 141.943359375, 52.55859375, -3.251953125, -0.7157464027404785 ]
[ -7.734375, 155.390625, 146.865234375, 51.328125, -2.548828125, 0.9105960130691528 ]
4.65
93
0
93
0
[ -10.546875, 150.8203125, 140.9765625, 52.91015625, -3.779296875, -0.7157464027404785 ]
[ -9.228515625, 154.072265625, 145.810546875, 51.85546875, -2.548828125, 0.9105960130691528 ]
4.7
94
0
94
0
[ -10.810546875, 149.4140625, 140.009765625, 53.61328125, -3.8671875, -0.7157464027404785 ]
[ -9.755859375, 152.666015625, 144.66796875, 52.3828125, -2.98828125, 0.9105960130691528 ]
4.75
95
0
95
0
[ -11.25, 147.83203125, 139.21875, 54.052734375, -4.658203125, -0.7157464027404785 ]
[ -9.84375, 151.171875, 143.61328125, 52.91015625, -3.1640625, 0.9105960130691528 ]
4.8
96
0
96
0
[ -11.865234375, 146.42578125, 138.251953125, 55.37109375, -4.833984375, -0.7157464027404785 ]
[ -10.283203125, 149.58984375, 142.646484375, 53.4375, -3.603515625, 0.9105960130691528 ]
4.85
97
0
97
0
[ -12.568359375, 145.107421875, 137.63671875, 56.337890625, -5.09765625, -0.7157464027404785 ]
[ -11.513671875, 148.0078125, 141.767578125, 54.052734375, -4.21875, 0.9105960130691528 ]
4.9
98
0
98
0
[ -13.271484375, 144.052734375, 137.373046875, 57.12890625, -5.361328125, -0.7157464027404785 ]
[ -11.953125, 146.689453125, 140.888671875, 55.107421875, -4.482421875, 0.9105960130691528 ]
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": 1,
    "total_frames": 1198,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "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": [
                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",
                "channels"
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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,
                3
            ],
            "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": [
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            ],
            "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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