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so101_test2

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Robotics
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LeRobot
so101
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sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ 1.7578125, 174.55078125, 179.6484375, 39.7265625, 30.234375, 0.2080443799495697 ]
2.6
78
0
78
0
[ 3.69140625, 173.408203125, 169.98046875, 35.947265625, 29.619140625, 0 ]
[ 1.7578125, 174.462890625, 179.6484375, 39.55078125, 30.234375, 0.2080443799495697 ]
2.633333
79
0
79
0
[ 3.69140625, 171.826171875, 168.662109375, 36.03515625, 29.53125, 0 ]
[ 1.7578125, 174.462890625, 179.6484375, 39.462890625, 30.234375, 0.2080443799495697 ]
2.666667
80
0
80
0
[ 3.69140625, 169.892578125, 167.16796875, 35.859375, 29.53125, 0 ]
[ 1.7578125, 174.287109375, 179.560546875, 39.462890625, 30.146484375, 0.2080443799495697 ]
2.7
81
0
81
0
[ 3.515625, 167.51953125, 165.5859375, 35.5078125, 29.53125, 0 ]
[ 1.7578125, 173.671875, 179.033203125, 39.462890625, 29.794921875, 0.2080443799495697 ]
2.733333
82
0
82
0
[ 3.33984375, 164.8828125, 163.65234375, 35.419921875, 29.53125, 0 ]
[ 1.7578125, 172.79296875, 178.2421875, 39.462890625, 29.70703125, 0.2080443799495697 ]
2.766667
83
0
83
0
[ 3.33984375, 161.806640625, 161.630859375, 35.419921875, 29.53125, 0 ]
[ 1.7578125, 171.5625, 177.1875, 39.111328125, 29.619140625, 0.2080443799495697 ]
2.8
84
0
84
0
[ 3.33984375, 158.73046875, 159.345703125, 35.419921875, 29.443359375, 0 ]
[ 1.7578125, 170.15625, 175.95703125, 39.111328125, 29.619140625, 0.2080443799495697 ]
2.833333
85
0
85
0
[ 3.515625, 155.56640625, 157.060546875, 35.419921875, 29.443359375, 0 ]
[ 1.7578125, 168.3984375, 174.55078125, 39.111328125, 29.619140625, 0.2080443799495697 ]
2.866667
86
0
86
0
[ 3.603515625, 152.40234375, 154.86328125, 35.33203125, 29.443359375, 0 ]
[ 1.7578125, 166.376953125, 173.056640625, 39.111328125, 29.619140625, 0.2080443799495697 ]
2.9
87
0
87
0
[ 3.603515625, 149.23828125, 152.75390625, 35.15625, 29.443359375, 0 ]
[ 1.7578125, 164.091796875, 171.38671875, 39.111328125, 29.619140625, 0.2080443799495697 ]
2.933333
88
0
88
0
[ 3.427734375, 146.25, 150.8203125, 34.62890625, 29.443359375, 0 ]
[ 1.7578125, 161.71875, 169.62890625, 39.111328125, 29.619140625, 0.2080443799495697 ]
2.966667
89
0
89
0
[ 3.1640625, 143.26171875, 149.0625, 34.1015625, 29.443359375, 0 ]
[ 1.7578125, 158.994140625, 167.6953125, 38.759765625, 29.619140625, 0.2080443799495697 ]
3
90
0
90
0
[ 3.076171875, 140.537109375, 147.568359375, 33.310546875, 29.443359375, 0 ]
[ 1.7578125, 156.26953125, 165.849609375, 38.408203125, 29.619140625, 0.2080443799495697 ]
3.033333
91
0
91
0
[ 2.98828125, 137.8125, 146.162109375, 32.34375, 29.443359375, 0 ]
[ 1.7578125, 153.45703125, 163.916015625, 37.96875, 29.619140625, 0.2080443799495697 ]
3.066667
92
0
92
0
[ 2.98828125, 135.263671875, 144.84375, 31.46484375, 29.443359375, 0 ]
[ 1.7578125, 150.556640625, 162.24609375, 37.44140625, 29.619140625, 0.2080443799495697 ]
3.1
93
0
93
0
[ 2.98828125, 132.71484375, 143.701171875, 30.5859375, 29.443359375, 0 ]
[ 1.7578125, 147.83203125, 160.48828125, 36.826171875, 29.619140625, 0.2080443799495697 ]
3.133333
94
0
94
0
[ 2.98828125, 130.25390625, 142.55859375, 29.70703125, 29.443359375, 0 ]
[ 1.7578125, 144.931640625, 158.818359375, 36.123046875, 29.619140625, 0.2080443799495697 ]
3.166667
95
0
95
0
[ 2.98828125, 127.880859375, 141.416015625, 28.916015625, 29.443359375, 0 ]
[ 1.7578125, 142.119140625, 157.236328125, 35.419921875, 29.619140625, 0.2080443799495697 ]
3.2
96
0
96
0
[ 2.98828125, 125.68359375, 140.185546875, 28.30078125, 29.443359375, 0 ]
[ 1.7578125, 139.39453125, 155.830078125, 34.62890625, 29.619140625, 0.2080443799495697 ]
3.233333
97
0
97
0
[ 2.98828125, 123.662109375, 138.955078125, 27.94921875, 29.443359375, 0 ]
[ 1.7578125, 136.58203125, 154.423828125, 33.92578125, 29.619140625, 0.2080443799495697 ]
3.266667
98
0
98
0
[ 2.900390625, 121.81640625, 137.63671875, 27.861328125, 29.443359375, 0 ]
[ 1.7578125, 133.857421875, 153.10546875, 33.310546875, 29.619140625, 0.2080443799495697 ]
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": "v2.1",
    "robot_type": "so101",
    "total_episodes": 2,
    "total_frames": 1792,
    "total_tasks": 1,
    "total_videos": 2,
    "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.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "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": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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