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Datasets:
badwolf256
/
so100_twin_cam_duck

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
duck
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
29.8
frame_index
int64
0
895
episode_index
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int64
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13.4k
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[ -1.23046875, 159.345703125, 137.28515625, 50.44921875, -11.77734375, 1.7584097385406494 ]
2.4
72
0
72
0
[ -1.7578125, 160.3125, 128.056640625, 50.80078125, -12.041015625, 2.3907666206359863 ]
[ -1.23046875, 159.345703125, 135.615234375, 50.44921875, -11.77734375, 1.7584097385406494 ]
2.433333
73
0
73
0
[ -1.7578125, 160.3125, 126.73828125, 50.9765625, -12.041015625, 2.3907666206359863 ]
[ -1.23046875, 159.345703125, 134.12109375, 50.537109375, -11.77734375, 1.7584097385406494 ]
2.466667
74
0
74
0
[ -1.7578125, 160.3125, 125.68359375, 51.15234375, -12.041015625, 2.3907666206359863 ]
[ -1.23046875, 159.345703125, 132.5390625, 50.537109375, -11.77734375, 1.7584097385406494 ]
2.5
75
0
75
0
[ -1.7578125, 160.3125, 124.98046875, 51.15234375, -12.041015625, 2.3907666206359863 ]
[ -1.23046875, 159.345703125, 131.044921875, 50.537109375, -11.77734375, 1.7584097385406494 ]
2.533333
76
0
76
0
[ -1.7578125, 160.3125, 124.541015625, 51.15234375, -12.041015625, 2.3907666206359863 ]
[ -1.23046875, 159.345703125, 129.462890625, 50.888671875, -11.77734375, 1.7584097385406494 ]
2.566667
77
0
77
0
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[ -1.23046875, 159.345703125, 128.232421875, 50.9765625, -11.77734375, 1.7584097385406494 ]
2.6
78
0
78
0
[ -1.7578125, 160.3125, 124.1015625, 50.80078125, -12.041015625, 2.3907666206359863 ]
[ -1.23046875, 159.345703125, 127.529296875, 50.9765625, -11.77734375, 1.7584097385406494 ]
2.633333
79
0
79
0
[ -1.7578125, 160.3125, 124.013671875, 50.712890625, -12.041015625, 2.3907666206359863 ]
[ -1.23046875, 159.43359375, 127.177734375, 50.9765625, -11.77734375, 1.7584097385406494 ]
2.666667
80
0
80
0
[ -1.7578125, 160.3125, 124.013671875, 50.712890625, -12.041015625, 2.3907666206359863 ]
[ -1.23046875, 159.43359375, 127.001953125, 50.888671875, -11.77734375, 1.7584097385406494 ]
2.7
81
0
81
0
[ -1.7578125, 160.3125, 124.013671875, 50.712890625, -12.041015625, 2.308326482772827 ]
[ -1.23046875, 159.43359375, 126.9140625, 50.80078125, -11.77734375, 1.7584097385406494 ]
2.733333
82
0
82
0
[ -1.7578125, 160.3125, 124.013671875, 50.712890625, -12.041015625, 2.308326482772827 ]
[ -1.23046875, 159.43359375, 126.826171875, 50.80078125, -11.77734375, 1.7584097385406494 ]
2.766667
83
0
83
0
[ -1.7578125, 160.3125, 124.013671875, 50.712890625, -12.041015625, 2.308326482772827 ]
[ -1.23046875, 159.43359375, 126.826171875, 50.80078125, -11.77734375, 1.7584097385406494 ]
2.8
84
0
84
0
[ -1.7578125, 160.224609375, 124.013671875, 50.712890625, -12.041015625, 2.308326482772827 ]
[ -1.23046875, 159.43359375, 126.826171875, 50.80078125, -11.77734375, 1.7584097385406494 ]
2.833333
85
0
85
0
[ -1.669921875, 159.78515625, 124.013671875, 50.712890625, -12.041015625, 2.308326482772827 ]
[ -1.23046875, 159.43359375, 126.826171875, 50.80078125, -11.77734375, 1.7584097385406494 ]
2.866667
86
0
86
0
[ -1.669921875, 159.521484375, 124.013671875, 50.712890625, -12.12890625, 2.0610058307647705 ]
[ -1.23046875, 159.43359375, 126.826171875, 50.80078125, -11.77734375, 1.7584097385406494 ]
2.9
87
0
87
0
[ -1.669921875, 159.345703125, 124.013671875, 50.712890625, -12.12890625, 1.9785655736923218 ]
[ -1.23046875, 159.169921875, 126.826171875, 50.80078125, -11.77734375, 1.7584097385406494 ]
2.933333
88
0
88
0
[ -1.669921875, 159.2578125, 124.013671875, 50.712890625, -12.12890625, 1.9785655736923218 ]
[ -1.23046875, 159.08203125, 126.826171875, 50.80078125, -11.77734375, 1.7584097385406494 ]
2.966667
89
0
89
0
[ -1.669921875, 159.2578125, 124.013671875, 50.712890625, -12.12890625, 1.896125316619873 ]
[ -1.23046875, 159.08203125, 126.826171875, 50.80078125, -11.77734375, 1.5290520191192627 ]
3
90
0
90
0
[ -1.669921875, 159.2578125, 124.013671875, 50.712890625, -12.3046875, 1.896125316619873 ]
[ -1.23046875, 159.08203125, 126.826171875, 50.80078125, -11.77734375, 1.3761467933654785 ]
3.033333
91
0
91
0
[ -1.669921875, 159.169921875, 124.013671875, 50.712890625, -12.392578125, 1.896125316619873 ]
[ -1.23046875, 159.08203125, 126.826171875, 50.80078125, -11.77734375, 1.3761467933654785 ]
3.066667
92
0
92
0
[ -1.7578125, 159.08203125, 124.013671875, 50.888671875, -12.392578125, 1.896125316619873 ]
[ -1.23046875, 159.08203125, 126.826171875, 50.80078125, -11.77734375, 1.3761467933654785 ]
3.1
93
0
93
0
[ -1.7578125, 158.5546875, 124.013671875, 50.9765625, -12.48046875, 1.896125316619873 ]
[ -1.23046875, 159.08203125, 126.826171875, 50.80078125, -11.77734375, 1.3761467933654785 ]
3.133333
94
0
94
0
[ -1.7578125, 157.412109375, 124.013671875, 51.064453125, -12.919921875, 1.896125316619873 ]
[ -1.23046875, 159.08203125, 126.826171875, 50.80078125, -11.77734375, 1.3761467933654785 ]
3.166667
95
0
95
0
[ -1.7578125, 155.830078125, 123.92578125, 51.064453125, -13.798828125, 1.896125316619873 ]
[ -1.23046875, 158.5546875, 126.826171875, 50.80078125, -11.77734375, 1.3761467933654785 ]
3.2
96
0
96
0
[ -1.7578125, 153.80859375, 123.92578125, 50.9765625, -15.029296875, 1.896125316619873 ]
[ -1.23046875, 157.67578125, 126.650390625, 50.9765625, -11.77734375, 1.3761467933654785 ]
3.233333
97
0
97
0
[ -1.7578125, 151.435546875, 123.92578125, 50.888671875, -16.5234375, 1.8136850595474243 ]
[ -1.23046875, 156.4453125, 126.38671875, 50.9765625, -12.3046875, 1.3761467933654785 ]
3.266667
98
0
98
0
[ -1.7578125, 149.150390625, 123.837890625, 50.80078125, -18.193359375, 1.8136850595474243 ]
[ -1.23046875, 154.775390625, 126.03515625, 50.80078125, -13.447265625, 1.3761467933654785 ]
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": "so100",
    "total_episodes": 15,
    "total_frames": 13431,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:15"
    },
    "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.realsense": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "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.wrist": {
            "dtype": "video",
            "shape": [
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                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": [
                1
            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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