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xhaka3456
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so100_test

Tasks:
Robotics
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Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
19.8
frame_index
int64
0
594
episode_index
int64
0
1
index
int64
0
1.19k
task_index
int64
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72
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[ -16.69921875, 153.369140625, 148.623046875, 58.623046875, 3.779296875, -0.28735631704330444 ]
[ -16.171875, 154.599609375, 151.962890625, 61.171875, 3.076171875, 0.3477051556110382 ]
2.433333
73
0
73
0
[ -16.435546875, 152.75390625, 148.623046875, 56.77734375, 3.955078125, -0.09578543901443481 ]
[ -15.8203125, 153.984375, 151.259765625, 60.205078125, 3.076171875, 0.3477051556110382 ]
2.466667
74
0
74
0
[ -16.083984375, 152.2265625, 148.623046875, 55.546875, 3.955078125, -0.09578543901443481 ]
[ -15.908203125, 153.45703125, 150.99609375, 58.798828125, 3.076171875, 0.3477051556110382 ]
2.5
75
0
75
0
[ -15.908203125, 151.611328125, 148.623046875, 54.580078125, 3.955078125, -0.09578543901443481 ]
[ -16.171875, 152.40234375, 150.732421875, 57.12890625, 3.076171875, 0.3477051556110382 ]
2.533333
76
0
76
0
[ -15.732421875, 150.8203125, 148.7109375, 53.7890625, 3.779296875, -0.09578543901443481 ]
[ -16.083984375, 151.69921875, 150.64453125, 55.986328125, 3.076171875, 0.3477051556110382 ]
2.566667
77
0
77
0
[ -15.556640625, 150.029296875, 148.7109375, 53.173828125, 3.779296875, -0.09578543901443481 ]
[ -15.380859375, 150.99609375, 150.556640625, 54.931640625, 3.076171875, 0.3477051556110382 ]
2.6
78
0
78
0
[ -15.556640625, 149.0625, 148.53515625, 53.0859375, 3.779296875, -0.09578543901443481 ]
[ -14.853515625, 150.29296875, 150.556640625, 54.140625, 3.076171875, 0.3477051556110382 ]
2.633333
79
0
79
0
[ -15.64453125, 148.271484375, 148.095703125, 53.0859375, 4.04296875, -0.19157087802886963 ]
[ -14.853515625, 149.765625, 150.556640625, 53.7890625, 3.076171875, 0.3477051556110382 ]
2.666667
80
0
80
0
[ -15.732421875, 147.744140625, 147.83203125, 53.0859375, 4.658203125, -0.19157087802886963 ]
[ -15.1171875, 148.974609375, 150.556640625, 53.701171875, 3.1640625, 0.3477051556110382 ]
2.7
81
0
81
0
[ -15.99609375, 147.041015625, 147.392578125, 53.0859375, 6.15234375, -0.19157087802886963 ]
[ -15.29296875, 148.0078125, 150.29296875, 53.61328125, 3.603515625, 0.3477051556110382 ]
2.733333
82
0
82
0
[ -16.259765625, 146.77734375, 147.041015625, 53.0859375, 7.55859375, -0.19157087802886963 ]
[ -15.205078125, 147.3046875, 150.029296875, 53.61328125, 4.130859375, 0.3477051556110382 ]
2.766667
83
0
83
0
[ -16.34765625, 146.42578125, 146.6015625, 53.0859375, 9.140625, -0.19157087802886963 ]
[ -15.029296875, 146.953125, 149.94140625, 53.61328125, 5.537109375, 0.3477051556110382 ]
2.8
84
0
84
0
[ -16.5234375, 146.162109375, 145.8984375, 53.0859375, 10.986328125, -0.19157087802886963 ]
[ -15.46875, 146.25, 149.58984375, 53.61328125, 6.767578125, 0.3477051556110382 ]
2.833333
85
0
85
0
[ -16.69921875, 145.8984375, 145.107421875, 53.173828125, 12.12890625, -0.19157087802886963 ]
[ -15.99609375, 146.07421875, 148.974609375, 53.61328125, 8.0859375, 0.3477051556110382 ]
2.866667
86
0
86
0
[ -16.69921875, 145.546875, 144.66796875, 53.4375, 12.041015625, -0.19157087802886963 ]
[ -16.083984375, 145.8984375, 148.447265625, 53.61328125, 9.404296875, 0.3477051556110382 ]
2.9
87
0
87
0
[ -16.69921875, 145.283203125, 144.404296875, 53.4375, 11.953125, -0.19157087802886963 ]
[ -16.083984375, 145.458984375, 147.65625, 53.61328125, 10.810546875, 0.3477051556110382 ]
2.933333
88
0
88
0
[ -16.69921875, 145.107421875, 144.31640625, 53.4375, 12.12890625, -0.19157087802886963 ]
[ -15.732421875, 144.931640625, 147.12890625, 53.61328125, 10.986328125, 0.3477051556110382 ]
2.966667
89
0
89
0
[ -16.611328125, 145.01953125, 144.228515625, 53.4375, 12.12890625, -0.19157087802886963 ]
[ -15.64453125, 144.931640625, 146.953125, 53.61328125, 10.986328125, 0.3477051556110382 ]
3
90
0
90
0
[ -16.5234375, 144.84375, 144.228515625, 53.525390625, 12.12890625, -0.19157087802886963 ]
[ -15.64453125, 144.931640625, 146.865234375, 53.61328125, 11.6015625, 0.3477051556110382 ]
3.033333
91
0
91
0
[ -16.5234375, 144.580078125, 144.228515625, 53.876953125, 12.12890625, -0.19157087802886963 ]
[ -15.732421875, 144.755859375, 146.865234375, 53.61328125, 11.6015625, 0.3477051556110382 ]
3.066667
92
0
92
0
[ -16.611328125, 144.228515625, 144.228515625, 54.4921875, 12.041015625, -0.19157087802886963 ]
[ -15.908203125, 144.140625, 146.77734375, 53.61328125, 11.6015625, 0.3477051556110382 ]
3.1
93
0
93
0
[ -16.69921875, 143.876953125, 144.228515625, 55.1953125, 11.953125, -0.19157087802886963 ]
[ -15.908203125, 144.140625, 146.77734375, 53.701171875, 11.6015625, 0.3477051556110382 ]
3.133333
94
0
94
0
[ -16.962890625, 143.525390625, 143.96484375, 56.25, 11.953125, -0.19157087802886963 ]
[ -15.732421875, 143.876953125, 146.689453125, 54.228515625, 11.513671875, 0.3477051556110382 ]
3.166667
95
0
95
0
[ -17.138671875, 143.26171875, 143.525390625, 57.48046875, 11.77734375, -0.19157087802886963 ]
[ -15.732421875, 143.26171875, 146.25, 55.1953125, 11.162109375, 0.3477051556110382 ]
3.2
96
0
96
0
[ -17.314453125, 142.822265625, 142.55859375, 59.853515625, 11.6015625, -0.19157087802886963 ]
[ -15.908203125, 142.91015625, 145.986328125, 55.8984375, 11.162109375, 0.3477051556110382 ]
3.233333
97
0
97
0
[ -17.490234375, 142.3828125, 141.85546875, 61.787109375, 11.6015625, -0.19157087802886963 ]
[ -16.34765625, 142.822265625, 145.546875, 57.041015625, 11.162109375, 0.3477051556110382 ]
3.266667
98
0
98
0
[ -17.578125, 141.943359375, 141.416015625, 62.666015625, 11.513671875, -0.19157087802886963 ]
[ -16.875, 142.20703125, 144.755859375, 58.7109375, 11.162109375, 0.3477051556110382 ]
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": 1190,
    "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": [
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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",
                "channels"
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
            }
        },
        "observation.images.phone": {
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            "shape": [
                480,
                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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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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