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Datasets:
tkc79
/
so100_lego_box_1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
14.9
frame_index
int64
0
448
episode_index
int64
0
103
index
int64
0
46.7k
task_index
int64
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0
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[ -13.623046875, 71.19140625, 75.322265625, 85.60546875, -5.44921875, 0.1818181872367859 ]
[ -13.271484375, 69.609375, 83.84765625, 80.771484375, -5.625, 17.83132553100586 ]
2.4
72
0
72
0
[ -13.359375, 71.19140625, 72.685546875, 87.451171875, -5.2734375, 0.1818181872367859 ]
[ -13.18359375, 69.609375, 81.826171875, 81.650390625, -5.44921875, 17.83132553100586 ]
2.433333
73
0
73
0
[ -13.0078125, 71.19140625, 70.048828125, 89.12109375, -4.921875, 0.1818181872367859 ]
[ -13.18359375, 69.609375, 79.716796875, 82.705078125, -5.44921875, 17.83132553100586 ]
2.466667
74
0
74
0
[ -12.83203125, 71.279296875, 67.939453125, 90.439453125, -4.482421875, 0.1818181872367859 ]
[ -13.18359375, 69.609375, 77.34375, 84.7265625, -5.2734375, 17.83132553100586 ]
2.5
75
0
75
0
[ -12.48046875, 71.3671875, 65.830078125, 91.669921875, -4.130859375, 0.1818181872367859 ]
[ -13.18359375, 69.609375, 74.970703125, 86.66015625, -4.833984375, 17.83132553100586 ]
2.533333
76
0
76
0
[ -12.12890625, 71.3671875, 63.984375, 92.98828125, -3.8671875, 0.1818181872367859 ]
[ -12.83203125, 69.609375, 72.59765625, 87.978515625, -4.5703125, 17.83132553100586 ]
2.566667
77
0
77
0
[ -11.77734375, 71.3671875, 61.962890625, 94.5703125, -3.69140625, 0.1818181872367859 ]
[ -12.568359375, 69.609375, 70.3125, 88.681640625, -4.5703125, 17.83132553100586 ]
2.6
78
0
78
0
[ -11.337890625, 71.3671875, 60.64453125, 95.9765625, -3.515625, 0.1818181872367859 ]
[ -12.392578125, 69.697265625, 68.818359375, 89.296875, -4.482421875, 17.83132553100586 ]
2.633333
79
0
79
0
[ -10.72265625, 71.3671875, 60.46875, 96.416015625, -3.1640625, 0.1818181872367859 ]
[ -11.865234375, 69.609375, 67.236328125, 91.40625, -3.955078125, 17.83132553100586 ]
2.666667
80
0
80
0
[ -9.931640625, 71.455078125, 60.46875, 96.85546875, -2.8125, 0.1818181872367859 ]
[ -11.6015625, 69.521484375, 65.21484375, 92.98828125, -3.69140625, 17.83132553100586 ]
2.7
81
0
81
0
[ -8.96484375, 71.455078125, 60.46875, 97.294921875, -2.4609375, 0.1818181872367859 ]
[ -10.8984375, 69.697265625, 63.984375, 93.515625, -3.603515625, 17.83132553100586 ]
2.733333
82
0
82
0
[ -7.734375, 71.455078125, 60.556640625, 97.91015625, -2.197265625, 0.1818181872367859 ]
[ -10.107421875, 69.697265625, 63.10546875, 95.009765625, -2.98828125, 17.83132553100586 ]
2.766667
83
0
83
0
[ -6.240234375, 71.54296875, 60.8203125, 98.0859375, -1.845703125, 0.1818181872367859 ]
[ -9.31640625, 69.697265625, 62.75390625, 95.712890625, -2.724609375, 17.83132553100586 ]
2.8
84
0
84
0
[ -4.5703125, 71.54296875, 61.259765625, 97.998046875, -1.23046875, 0.1818181872367859 ]
[ -8.4375, 69.609375, 62.578125, 95.625, -2.548828125, 17.83132553100586 ]
2.833333
85
0
85
0
[ -2.724609375, 71.54296875, 61.787109375, 97.91015625, -0.52734375, 0.1818181872367859 ]
[ -7.3828125, 69.609375, 62.578125, 96.50390625, -2.021484375, 17.83132553100586 ]
2.866667
86
0
86
0
[ -0.791015625, 71.54296875, 62.138671875, 97.734375, 0.263671875, 0.1818181872367859 ]
[ -6.064453125, 69.609375, 62.578125, 97.20703125, -1.669921875, 17.83132553100586 ]
2.9
87
0
87
0
[ 1.0546875, 71.54296875, 62.2265625, 97.734375, 1.23046875, 0.1818181872367859 ]
[ -4.39453125, 69.609375, 62.490234375, 96.328125, -1.0546875, 17.83132553100586 ]
2.933333
88
0
88
0
[ 2.98828125, 71.54296875, 62.2265625, 97.734375, 2.021484375, 0.1818181872367859 ]
[ -2.724609375, 69.609375, 62.666015625, 96.50390625, -0.703125, 17.83132553100586 ]
2.966667
89
0
89
0
[ 4.74609375, 71.54296875, 62.2265625, 97.646484375, 2.8125, 0.1818181872367859 ]
[ -1.318359375, 69.609375, 62.666015625, 97.294921875, 0, 17.83132553100586 ]
3
90
0
90
0
[ 6.591796875, 71.630859375, 62.138671875, 97.55859375, 3.69140625, 0.1818181872367859 ]
[ 0, 69.609375, 62.666015625, 96.767578125, 0.703125, 17.83132553100586 ]
3.033333
91
0
91
0
[ 8.26171875, 71.630859375, 62.05078125, 97.55859375, 4.658203125, 0.1818181872367859 ]
[ 1.669921875, 69.609375, 62.666015625, 96.6796875, 1.142578125, 17.83132553100586 ]
3.066667
92
0
92
0
[ 9.84375, 71.630859375, 61.962890625, 97.55859375, 5.625, 0.1818181872367859 ]
[ 3.427734375, 69.609375, 62.666015625, 96.943359375, 1.845703125, 17.83132553100586 ]
3.1
93
0
93
0
[ 11.513671875, 71.630859375, 62.05078125, 97.55859375, 6.591796875, 0.1818181872367859 ]
[ 5.185546875, 69.609375, 62.666015625, 97.03125, 2.724609375, 17.83132553100586 ]
3.133333
94
0
94
0
[ 13.18359375, 71.630859375, 62.05078125, 97.470703125, 7.3828125, 0.1818181872367859 ]
[ 6.591796875, 69.609375, 62.578125, 97.119140625, 3.69140625, 17.83132553100586 ]
3.166667
95
0
95
0
[ 14.58984375, 71.630859375, 62.05078125, 97.470703125, 8.26171875, 0.1818181872367859 ]
[ 8.173828125, 69.609375, 62.666015625, 96.943359375, 4.5703125, 17.83132553100586 ]
3.2
96
0
96
0
[ 15.908203125, 71.630859375, 62.05078125, 97.470703125, 8.96484375, 0.1818181872367859 ]
[ 10.107421875, 69.609375, 62.75390625, 96.85546875, 5.537109375, 17.83132553100586 ]
3.233333
97
0
97
0
[ 17.138671875, 71.630859375, 62.05078125, 97.55859375, 9.580078125, 0.1818181872367859 ]
[ 11.6015625, 69.609375, 62.75390625, 96.85546875, 6.416015625, 17.83132553100586 ]
3.266667
98
0
98
0
[ 18.28125, 71.630859375, 62.05078125, 97.55859375, 10.107421875, 0.1818181872367859 ]
[ 13.0078125, 69.609375, 62.75390625, 96.85546875, 6.943359375, 17.83132553100586 ]
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": 104,
    "total_frames": 46689,
    "total_tasks": 1,
    "total_videos": 208,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:104"
    },
    "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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.arm": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "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": [
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            ],
            "names": null
        },
        "index": {
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                1
            ],
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        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
2.34 MB
Size of the auto-converted Parquet files:
2.34 MB
Number of rows:
46,689