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Datasets:
windsoul1
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
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Size:
< 1K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ 19.951171875, 192.65625, 180.263671875, 31.552734375, -9.755859375, 24.52276039123535 ]
2.366667
71
0
71
0
[ 20.302734375, 193.88671875, 180.17578125, 31.2890625, -10.107421875, 5.4331865310668945 ]
[ 19.951171875, 192.65625, 180.263671875, 31.552734375, -9.755859375, 18.795888900756836 ]
2.4
72
0
72
0
[ 20.478515625, 193.88671875, 180.17578125, 31.2890625, -10.107421875, 0.5873715281486511 ]
[ 19.951171875, 192.65625, 180.263671875, 31.552734375, -9.755859375, 13.362701416015625 ]
2.433333
73
0
73
0
[ 20.56640625, 193.88671875, 180.17578125, 31.376953125, -10.107421875, 0 ]
[ 19.951171875, 192.65625, 180.263671875, 31.552734375, -9.755859375, 7.9295148849487305 ]
2.466667
74
0
74
0
[ 20.56640625, 193.88671875, 180.17578125, 31.376953125, -10.107421875, -0.14684288203716278 ]
[ 19.951171875, 192.65625, 180.263671875, 31.552734375, -9.755859375, 4.698972225189209 ]
2.5
75
0
75
0
[ 20.56640625, 193.88671875, 180.17578125, 31.376953125, -10.107421875, -0.14684288203716278 ]
[ 19.951171875, 192.65625, 180.263671875, 31.552734375, -9.755859375, 2.7900147438049316 ]
2.533333
76
0
76
0
[ 20.56640625, 193.88671875, 180.17578125, 31.376953125, -10.107421875, -0.14684288203716278 ]
[ 19.951171875, 192.65625, 180.263671875, 31.552734375, -9.755859375, 1.9089573621749878 ]
2.566667
77
0
77
0
[ 20.56640625, 193.88671875, 180.17578125, 31.376953125, -10.107421875, -0.14684288203716278 ]
[ 19.951171875, 192.65625, 180.263671875, 31.552734375, -9.755859375, 1.4684287309646606 ]
2.6
78
0
78
0
[ 20.654296875, 193.88671875, 180.17578125, 31.46484375, -10.107421875, -0.14684288203716278 ]
[ 19.951171875, 192.65625, 180.263671875, 31.552734375, -9.755859375, 1.4684287309646606 ]
2.633333
79
0
79
0
[ 20.830078125, 193.88671875, 180.17578125, 31.552734375, -9.931640625, -0.14684288203716278 ]
[ 19.951171875, 192.65625, 180.263671875, 31.552734375, -9.755859375, 0.8810572624206543 ]
2.666667
80
0
80
0
[ 20.91796875, 193.88671875, 180.17578125, 31.728515625, -9.31640625, -0.14684288203716278 ]
[ 19.951171875, 192.65625, 180.263671875, 31.552734375, -9.66796875, 0.7342143654823303 ]
2.7
81
0
81
0
[ 21.005859375, 193.88671875, 180.17578125, 31.81640625, -9.31640625, -0.14684288203716278 ]
[ 19.951171875, 192.65625, 180.263671875, 31.552734375, -9.31640625, 0.44052863121032715 ]
2.733333
82
0
82
0
[ 21.09375, 193.798828125, 180.17578125, 31.904296875, -9.31640625, -0.14684288203716278 ]
[ 19.951171875, 192.65625, 180.263671875, 31.552734375, -9.140625, 0.44052863121032715 ]
2.766667
83
0
83
0
[ 21.09375, 193.798828125, 180.17578125, 31.9921875, -9.4921875, -0.14684288203716278 ]
[ 20.21484375, 192.65625, 180.263671875, 31.552734375, -9.140625, 0.44052863121032715 ]
2.8
84
0
84
0
[ 21.005859375, 193.798828125, 180.17578125, 31.9921875, -10.01953125, -0.14684288203716278 ]
[ 20.654296875, 192.65625, 180.263671875, 31.552734375, -9.140625, 0.44052863121032715 ]
2.833333
85
0
85
0
[ 20.7421875, 193.798828125, 180.17578125, 32.080078125, -10.01953125, -0.14684288203716278 ]
[ 21.09375, 192.65625, 180.263671875, 31.552734375, -9.228515625, 0.44052863121032715 ]
2.866667
86
0
86
0
[ 20.654296875, 193.798828125, 180.17578125, 32.080078125, -10.01953125, -0.14684288203716278 ]
[ 21.005859375, 192.65625, 180.263671875, 31.728515625, -9.580078125, 0.44052863121032715 ]
2.9
87
0
87
0
[ 20.654296875, 193.798828125, 180.17578125, 32.080078125, -10.01953125, -0.14684288203716278 ]
[ 20.302734375, 192.65625, 180.263671875, 31.904296875, -9.755859375, 0.44052863121032715 ]
2.933333
88
0
88
0
[ 20.56640625, 193.798828125, 180.17578125, 32.080078125, -10.01953125, -0.14684288203716278 ]
[ 19.775390625, 192.65625, 180.263671875, 31.904296875, -9.755859375, 0.44052863121032715 ]
2.966667
89
0
89
0
[ 20.478515625, 193.798828125, 180.17578125, 32.080078125, -10.01953125, -0.14684288203716278 ]
[ 19.775390625, 192.65625, 180.263671875, 31.904296875, -9.755859375, 0.44052863121032715 ]
3
90
0
90
0
[ 20.478515625, 193.798828125, 180.17578125, 32.16796875, -10.01953125, -0.14684288203716278 ]
[ 20.21484375, 192.65625, 180.263671875, 31.904296875, -9.755859375, 0.44052863121032715 ]
3.033333
91
0
91
0
[ 20.478515625, 193.798828125, 180.17578125, 32.16796875, -10.01953125, -0.14684288203716278 ]
[ 20.390625, 192.65625, 180.263671875, 31.904296875, -9.755859375, 0.44052863121032715 ]
3.066667
92
0
92
0
[ 20.478515625, 193.798828125, 180.17578125, 32.16796875, -9.931640625, -0.14684288203716278 ]
[ 20.390625, 192.65625, 180.263671875, 31.904296875, -9.755859375, 0.44052863121032715 ]
3.1
93
0
93
0
[ 20.478515625, 193.798828125, 180.17578125, 32.16796875, -9.84375, -0.14684288203716278 ]
[ 20.302734375, 192.65625, 180.263671875, 31.904296875, -9.755859375, 0.44052863121032715 ]
3.133333
94
0
94
0
[ 20.302734375, 193.798828125, 180.17578125, 32.16796875, -9.84375, -0.14684288203716278 ]
[ 20.126953125, 192.65625, 180.263671875, 31.904296875, -9.31640625, 0.44052863121032715 ]
3.166667
95
0
95
0
[ 20.302734375, 193.798828125, 180.17578125, 32.16796875, -9.84375, -0.14684288203716278 ]
[ 20.0390625, 192.65625, 180.263671875, 31.904296875, -9.228515625, 0.44052863121032715 ]
3.2
96
0
96
0
[ 20.302734375, 193.798828125, 180.17578125, 31.9921875, -10.01953125, -0.14684288203716278 ]
[ 19.86328125, 192.65625, 180.263671875, 31.904296875, -9.228515625, 0.44052863121032715 ]
3.233333
97
0
97
0
[ 20.654296875, 193.798828125, 180.17578125, 31.728515625, -10.01953125, -0.14684288203716278 ]
[ 19.775390625, 192.65625, 180.263671875, 31.728515625, -9.228515625, 0.44052863121032715 ]
3.266667
98
0
98
0
[ 20.91796875, 193.798828125, 180.17578125, 31.552734375, -10.01953125, -0.14684288203716278 ]
[ 19.775390625, 192.65625, 180.263671875, 31.552734375, -9.580078125, 0.44052863121032715 ]
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": 515,
    "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": {
                "video.fps": 30.0,
                "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.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": "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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            "names": null
        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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