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Datasets:
badwolf256
/
so100_twin_cam_duck_v2

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
894
episode_index
int64
0
16
index
int64
0
15.2k
task_index
int64
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[ 8.4375, 153.10546875, 158.642578125, 46.93359375, -2.109375, 23.81944465637207 ]
2.433333
73
0
73
0
[ 8.876953125, 154.072265625, 154.072265625, 46.845703125, -2.63671875, 24.96038055419922 ]
[ 8.4375, 153.10546875, 158.37890625, 46.93359375, -2.109375, 23.81944465637207 ]
2.466667
74
0
74
0
[ 8.7890625, 154.072265625, 153.193359375, 46.845703125, -2.63671875, 24.96038055419922 ]
[ 8.4375, 153.10546875, 157.939453125, 46.93359375, -2.109375, 23.81944465637207 ]
2.5
75
0
75
0
[ 8.7890625, 154.072265625, 152.2265625, 46.845703125, -2.63671875, 24.96038055419922 ]
[ 8.4375, 153.10546875, 157.67578125, 46.93359375, -2.109375, 23.81944465637207 ]
2.533333
76
0
76
0
[ 8.701171875, 154.072265625, 151.083984375, 46.845703125, -2.63671875, 24.96038055419922 ]
[ 8.4375, 153.10546875, 156.884765625, 46.93359375, -2.109375, 23.81944465637207 ]
2.566667
77
0
77
0
[ 8.61328125, 154.072265625, 149.94140625, 46.845703125, -2.63671875, 24.96038055419922 ]
[ 8.4375, 153.10546875, 156.005859375, 46.93359375, -2.109375, 23.81944465637207 ]
2.6
78
0
78
0
[ 8.61328125, 154.072265625, 148.7109375, 46.845703125, -2.63671875, 24.96038055419922 ]
[ 8.4375, 153.10546875, 155.0390625, 46.93359375, -2.109375, 23.81944465637207 ]
2.633333
79
0
79
0
[ 8.61328125, 154.072265625, 147.568359375, 46.845703125, -2.63671875, 24.96038055419922 ]
[ 8.4375, 153.10546875, 153.80859375, 46.93359375, -2.109375, 23.81944465637207 ]
2.666667
80
0
80
0
[ 8.701171875, 154.072265625, 146.513671875, 46.93359375, -2.63671875, 24.96038055419922 ]
[ 8.4375, 153.10546875, 152.314453125, 46.93359375, -2.109375, 23.81944465637207 ]
2.7
81
0
81
0
[ 8.7890625, 154.072265625, 145.634765625, 46.93359375, -2.63671875, 24.96038055419922 ]
[ 8.4375, 153.10546875, 151.083984375, 46.93359375, -2.109375, 23.81944465637207 ]
2.733333
82
0
82
0
[ 8.876953125, 154.072265625, 145.01953125, 46.93359375, -2.63671875, 24.96038055419922 ]
[ 8.4375, 153.10546875, 150.029296875, 46.93359375, -2.109375, 23.81944465637207 ]
2.766667
83
0
83
0
[ 8.876953125, 154.072265625, 144.66796875, 46.93359375, -2.63671875, 24.96038055419922 ]
[ 8.4375, 153.10546875, 149.0625, 46.93359375, -2.109375, 23.81944465637207 ]
2.8
84
0
84
0
[ 8.876953125, 154.072265625, 144.404296875, 46.93359375, -2.63671875, 24.96038055419922 ]
[ 8.4375, 153.10546875, 148.447265625, 46.93359375, -2.109375, 23.81944465637207 ]
2.833333
85
0
85
0
[ 8.876953125, 154.072265625, 144.404296875, 46.93359375, -2.63671875, 24.96038055419922 ]
[ 8.4375, 153.10546875, 147.744140625, 46.93359375, -2.109375, 23.81944465637207 ]
2.866667
86
0
86
0
[ 8.876953125, 153.984375, 144.404296875, 46.93359375, -2.63671875, 24.96038055419922 ]
[ 8.4375, 153.10546875, 147.392578125, 46.93359375, -2.109375, 23.81944465637207 ]
2.9
87
0
87
0
[ 8.876953125, 153.369140625, 144.404296875, 46.93359375, -2.63671875, 24.96038055419922 ]
[ 8.4375, 153.017578125, 147.12890625, 46.93359375, -2.109375, 23.81944465637207 ]
2.933333
88
0
88
0
[ 8.96484375, 153.10546875, 144.404296875, 46.93359375, -2.63671875, 24.96038055419922 ]
[ 8.4375, 152.841796875, 146.953125, 46.93359375, -2.109375, 23.81944465637207 ]
2.966667
89
0
89
0
[ 9.052734375, 153.017578125, 144.404296875, 47.109375, -2.724609375, 24.96038055419922 ]
[ 8.4375, 152.841796875, 146.953125, 46.93359375, -2.109375, 23.81944465637207 ]
3
90
0
90
0
[ 9.052734375, 152.9296875, 144.404296875, 47.373046875, -2.724609375, 24.96038055419922 ]
[ 8.4375, 152.841796875, 146.865234375, 46.93359375, -2.109375, 23.81944465637207 ]
3.033333
91
0
91
0
[ 9.052734375, 152.666015625, 144.404296875, 47.548828125, -2.724609375, 24.80190086364746 ]
[ 8.61328125, 152.75390625, 146.865234375, 47.109375, -2.109375, 23.81944465637207 ]
3.066667
92
0
92
0
[ 9.052734375, 152.138671875, 144.404296875, 47.548828125, -2.724609375, 24.80190086364746 ]
[ 8.61328125, 152.314453125, 146.865234375, 47.109375, -2.109375, 23.81944465637207 ]
3.1
93
0
93
0
[ 8.96484375, 150.908203125, 144.404296875, 47.548828125, -2.724609375, 24.80190086364746 ]
[ 8.61328125, 152.138671875, 146.865234375, 47.109375, -2.109375, 23.81944465637207 ]
3.133333
94
0
94
0
[ 9.052734375, 149.23828125, 144.31640625, 47.373046875, -2.724609375, 24.881141662597656 ]
[ 8.61328125, 151.69921875, 146.865234375, 47.109375, -2.109375, 23.81944465637207 ]
3.166667
95
0
95
0
[ 9.052734375, 147.12890625, 144.228515625, 47.021484375, -2.724609375, 24.96038055419922 ]
[ 8.61328125, 150.64453125, 146.689453125, 47.109375, -2.109375, 23.81944465637207 ]
3.2
96
0
96
0
[ 8.96484375, 144.755859375, 144.228515625, 46.93359375, -2.724609375, 24.96038055419922 ]
[ 8.61328125, 149.0625, 146.689453125, 47.109375, -2.109375, 23.81944465637207 ]
3.233333
97
0
97
0
[ 8.876953125, 142.294921875, 143.876953125, 46.93359375, -2.724609375, 25.03961944580078 ]
[ 8.61328125, 147.392578125, 146.6015625, 47.109375, -2.109375, 23.81944465637207 ]
3.266667
98
0
98
0
[ 8.96484375, 140.09765625, 142.998046875, 46.93359375, -2.724609375, 25.03961944580078 ]
[ 8.61328125, 145.283203125, 146.513671875, 46.845703125, -2.109375, 23.81944465637207 ]
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": 17,
    "total_frames": 15215,
    "total_tasks": 1,
    "total_videos": 34,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:17"
    },
    "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": [
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                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "observation.images.wrist": {
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            "shape": [
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.channels": 3,
                "video.codec": "h264",
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "episode_index": {
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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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