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zsktju
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so100_test2

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Robotics
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LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
14.1
frame_index
int64
0
424
episode_index
int64
0
1
index
int64
0
636
task_index
int64
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0
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[ 5.9765625, 99.931640625, 131.30859375, 53.4375, -5.2734375, 3.749147891998291 ]
2.4
72
0
72
0
[ 7.20703125, 102.48046875, 130.4296875, 53.0859375, -5.712890625, -0.09250693768262863 ]
[ 5.9765625, 99.931640625, 131.30859375, 53.4375, -5.2734375, 3.749147891998291 ]
2.433333
73
0
73
0
[ 7.3828125, 102.83203125, 130.166015625, 53.173828125, -5.712890625, -0.09250693768262863 ]
[ 5.9765625, 100.1953125, 131.30859375, 53.4375, -5.2734375, 3.749147891998291 ]
2.466667
74
0
74
0
[ 7.470703125, 103.359375, 129.814453125, 53.701171875, -5.712890625, -0.09250693768262863 ]
[ 6.240234375, 100.1953125, 131.30859375, 53.4375, -5.2734375, 3.749147891998291 ]
2.5
75
0
75
0
[ 7.822265625, 103.974609375, 129.0234375, 54.931640625, -5.712890625, -0.09250693768262863 ]
[ 6.6796875, 100.283203125, 131.30859375, 53.4375, -5.2734375, 3.749147891998291 ]
2.533333
76
0
76
0
[ 8.173828125, 104.677734375, 128.056640625, 56.42578125, -5.712890625, -0.09250693768262863 ]
[ 6.85546875, 100.546875, 131.1328125, 53.4375, -5.2734375, 3.749147891998291 ]
2.566667
77
0
77
0
[ 8.4375, 105.556640625, 126.826171875, 58.095703125, -5.888671875, -0.09250693768262863 ]
[ 6.85546875, 100.8984375, 130.869140625, 53.525390625, -5.009765625, 3.749147891998291 ]
2.6
78
0
78
0
[ 8.7890625, 106.435546875, 125.595703125, 59.58984375, -6.064453125, -0.09250693768262863 ]
[ 6.85546875, 101.6015625, 130.078125, 54.931640625, -5.009765625, 3.749147891998291 ]
2.633333
79
0
79
0
[ 9.31640625, 107.314453125, 124.453125, 60.732421875, -6.15234375, -0.09250693768262863 ]
[ 7.20703125, 102.392578125, 128.935546875, 56.337890625, -5.361328125, 3.749147891998291 ]
2.666667
80
0
80
0
[ 10.01953125, 107.9296875, 123.22265625, 61.787109375, -6.15234375, -0.09250693768262863 ]
[ 7.91015625, 103.447265625, 127.705078125, 57.3046875, -5.44921875, 3.749147891998291 ]
2.7
81
0
81
0
[ 10.810546875, 108.80859375, 121.904296875, 62.841796875, -6.15234375, -0.09250693768262863 ]
[ 8.349609375, 104.23828125, 126.650390625, 58.623046875, -5.361328125, 3.749147891998291 ]
2.733333
82
0
82
0
[ 11.42578125, 109.775390625, 120.5859375, 63.720703125, -6.416015625, -0.09250693768262863 ]
[ 8.701171875, 104.765625, 125.595703125, 59.765625, -5.625, 3.749147891998291 ]
2.766667
83
0
83
0
[ 12.392578125, 110.478515625, 119.443359375, 64.423828125, -6.50390625, -0.09250693768262863 ]
[ 9.140625, 105.380859375, 124.453125, 60.64453125, -5.888671875, 3.749147891998291 ]
2.8
84
0
84
0
[ 13.53515625, 111.181640625, 118.828125, 64.599609375, -6.50390625, -0.09250693768262863 ]
[ 9.84375, 106.34765625, 123.22265625, 61.611328125, -5.9765625, 3.749147891998291 ]
2.833333
85
0
85
0
[ 14.853515625, 111.796875, 118.564453125, 64.6875, -6.50390625, -0.09250693768262863 ]
[ 10.986328125, 107.578125, 121.728515625, 62.75390625, -5.9765625, 3.749147891998291 ]
2.866667
86
0
86
0
[ 16.171875, 112.1484375, 118.564453125, 64.86328125, -6.6796875, -0.09250693768262863 ]
[ 11.865234375, 108.193359375, 120.9375, 62.9296875, -5.9765625, 3.749147891998291 ]
2.9
87
0
87
0
[ 17.666015625, 112.236328125, 118.65234375, 64.86328125, -7.119140625, -0.09250693768262863 ]
[ 12.83203125, 108.720703125, 120.41015625, 63.28125, -5.712890625, 3.749147891998291 ]
2.933333
88
0
88
0
[ 19.423828125, 112.412109375, 118.828125, 64.775390625, -7.20703125, -0.09250693768262863 ]
[ 13.88671875, 109.51171875, 120.234375, 63.6328125, -5.80078125, 3.749147891998291 ]
2.966667
89
0
89
0
[ 20.91796875, 112.587890625, 119.091796875, 64.86328125, -7.91015625, -0.09250693768262863 ]
[ 15.205078125, 109.775390625, 120.05859375, 63.6328125, -6.50390625, 3.749147891998291 ]
3
90
0
90
0
[ 22.587890625, 112.587890625, 119.443359375, 64.86328125, -8.525390625, -0.09250693768262863 ]
[ 16.875, 110.126953125, 120.05859375, 63.720703125, -6.50390625, 3.749147891998291 ]
3.033333
91
0
91
0
[ 23.994140625, 112.5, 119.794921875, 64.6875, -9.404296875, -0.09250693768262863 ]
[ 18.28125, 110.126953125, 120.05859375, 63.720703125, -6.328125, 3.749147891998291 ]
3.066667
92
0
92
0
[ 25.48828125, 111.884765625, 119.970703125, 64.51171875, -10.283203125, -0.09250693768262863 ]
[ 19.6875, 110.126953125, 120.05859375, 63.720703125, -6.943359375, 3.749147891998291 ]
3.1
93
0
93
0
[ 27.0703125, 111.26953125, 120.146484375, 63.80859375, -10.72265625, -0.09250693768262863 ]
[ 20.7421875, 110.126953125, 120.05859375, 63.720703125, -8.0859375, 3.749147891998291 ]
3.133333
94
0
94
0
[ 28.30078125, 110.56640625, 120.234375, 63.369140625, -11.513671875, -0.09250693768262863 ]
[ 22.412109375, 110.126953125, 120.05859375, 63.720703125, -9.052734375, 3.749147891998291 ]
3.166667
95
0
95
0
[ 29.35546875, 109.951171875, 120.322265625, 62.9296875, -12.568359375, -0.09250693768262863 ]
[ 24.2578125, 110.126953125, 120.41015625, 63.369140625, -9.31640625, 3.749147891998291 ]
3.2
96
0
96
0
[ 30.41015625, 108.984375, 120.498046875, 62.490234375, -13.447265625, -0.09250693768262863 ]
[ 26.279296875, 109.6875, 120.498046875, 63.28125, -9.755859375, 3.749147891998291 ]
3.233333
97
0
97
0
[ 31.2890625, 107.841796875, 120.498046875, 62.05078125, -14.326171875, -0.09250693768262863 ]
[ 27.333984375, 109.072265625, 120.498046875, 62.841796875, -10.810546875, 3.749147891998291 ]
3.266667
98
0
98
0
[ 32.080078125, 106.611328125, 120.5859375, 61.611328125, -14.94140625, -0.09250693768262863 ]
[ 28.125, 108.28125, 120.498046875, 62.578125, -11.77734375, 3.749147891998291 ]
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": 637,
    "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": [
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            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        },
        "observation.images.phone": {
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            "shape": [
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                640,
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            ],
            "names": null
        },
        "index": {
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                1
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        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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