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Datasets:
badwolf256
/
so100_twin_cam_duck_v3

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
22
index
int64
0
20.6k
task_index
int64
0
0
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[ 3.076171875, 121.2890625, 103.359375, 47.900390625, -3.427734375, 6.814579963684082 ]
[ 2.63671875, 123.046875, 110.126953125, 44.560546875, -2.28515625, 6.31944465637207 ]
2.433333
73
0
73
0
[ 3.076171875, 120.234375, 102.12890625, 49.39453125, -3.427734375, 6.814579963684082 ]
[ 2.63671875, 121.9921875, 108.544921875, 45.615234375, -2.28515625, 6.31944465637207 ]
2.466667
74
0
74
0
[ 3.076171875, 119.091796875, 101.07421875, 51.240234375, -3.427734375, 6.814579963684082 ]
[ 2.63671875, 121.11328125, 107.138671875, 46.845703125, -2.28515625, 6.31944465637207 ]
2.5
75
0
75
0
[ 3.076171875, 118.037109375, 100.1953125, 53.0859375, -3.427734375, 6.814579963684082 ]
[ 2.63671875, 120.05859375, 105.8203125, 48.427734375, -2.28515625, 6.31944465637207 ]
2.533333
76
0
76
0
[ 3.076171875, 116.982421875, 99.4921875, 54.931640625, -3.33984375, 6.814579963684082 ]
[ 2.63671875, 119.00390625, 104.765625, 50.09765625, -2.28515625, 6.31944465637207 ]
2.566667
77
0
77
0
[ 3.076171875, 116.103515625, 98.96484375, 56.513671875, -3.33984375, 6.814579963684082 ]
[ 2.63671875, 117.685546875, 103.7109375, 51.85546875, -2.28515625, 6.31944465637207 ]
2.6
78
0
78
0
[ 3.076171875, 115.48828125, 98.61328125, 57.83203125, -3.251953125, 6.814579963684082 ]
[ 2.63671875, 116.54296875, 102.392578125, 53.26171875, -2.28515625, 6.31944465637207 ]
2.633333
79
0
79
0
[ 3.076171875, 115.3125, 98.349609375, 58.798828125, -3.251953125, 6.814579963684082 ]
[ 2.63671875, 115.83984375, 101.865234375, 54.755859375, -2.28515625, 6.31944465637207 ]
2.666667
80
0
80
0
[ 3.076171875, 115.48828125, 98.26171875, 59.4140625, -3.251953125, 6.814579963684082 ]
[ 2.63671875, 115.3125, 101.42578125, 56.07421875, -2.28515625, 6.31944465637207 ]
2.7
81
0
81
0
[ 2.98828125, 115.6640625, 98.173828125, 59.677734375, -3.33984375, 6.814579963684082 ]
[ 2.63671875, 115.13671875, 101.162109375, 57.041015625, -2.28515625, 6.31944465637207 ]
2.733333
82
0
82
0
[ 2.98828125, 115.6640625, 98.173828125, 59.765625, -3.427734375, 6.814579963684082 ]
[ 2.63671875, 115.048828125, 100.986328125, 57.919921875, -2.28515625, 6.31944465637207 ]
2.766667
83
0
83
0
[ 2.98828125, 115.48828125, 98.173828125, 59.765625, -4.04296875, 6.814579963684082 ]
[ 2.63671875, 115.048828125, 100.8984375, 58.271484375, -2.28515625, 6.31944465637207 ]
2.8
84
0
84
0
[ 2.900390625, 115.224609375, 98.173828125, 59.853515625, -5.361328125, 6.814579963684082 ]
[ 2.4609375, 115.048828125, 100.810546875, 58.447265625, -2.63671875, 6.31944465637207 ]
2.833333
85
0
85
0
[ 2.900390625, 115.13671875, 98.701171875, 59.853515625, -7.470703125, 6.814579963684082 ]
[ 2.4609375, 114.9609375, 100.72265625, 58.623046875, -3.427734375, 6.31944465637207 ]
2.866667
86
0
86
0
[ 2.900390625, 115.13671875, 98.876953125, 59.94140625, -10.01953125, 6.814579963684082 ]
[ 2.4609375, 114.9609375, 100.72265625, 58.7109375, -4.658203125, 6.31944465637207 ]
2.9
87
0
87
0
[ 2.900390625, 115.13671875, 98.876953125, 59.94140625, -12.744140625, 6.814579963684082 ]
[ 2.373046875, 114.9609375, 100.72265625, 58.7109375, -6.328125, 6.31944465637207 ]
2.933333
88
0
88
0
[ 2.900390625, 115.224609375, 98.876953125, 59.94140625, -15.380859375, 6.814579963684082 ]
[ 2.373046875, 114.9609375, 100.72265625, 58.798828125, -8.349609375, 6.31944465637207 ]
2.966667
89
0
89
0
[ 2.8125, 115.400390625, 98.876953125, 60.029296875, -17.666015625, 6.814579963684082 ]
[ 2.373046875, 114.9609375, 100.72265625, 58.798828125, -10.546875, 6.31944465637207 ]
3
90
0
90
0
[ 2.8125, 115.48828125, 98.876953125, 60.029296875, -19.599609375, 6.814579963684082 ]
[ 2.373046875, 114.9609375, 100.72265625, 59.150390625, -12.83203125, 6.31944465637207 ]
3.033333
91
0
91
0
[ 2.8125, 115.48828125, 98.876953125, 60.380859375, -21.181640625, 6.814579963684082 ]
[ 2.373046875, 114.9609375, 100.72265625, 59.677734375, -14.853515625, 6.31944465637207 ]
3.066667
92
0
92
0
[ 2.548828125, 115.224609375, 98.7890625, 61.34765625, -22.587890625, 6.814579963684082 ]
[ 2.373046875, 114.9609375, 100.72265625, 59.677734375, -16.962890625, 6.31944465637207 ]
3.1
93
0
93
0
[ 1.40625, 115.13671875, 98.61328125, 62.666015625, -23.818359375, 6.814579963684082 ]
[ 2.373046875, 114.9609375, 100.72265625, 60.029296875, -18.6328125, 6.31944465637207 ]
3.133333
94
0
94
0
[ -0.615234375, 115.13671875, 98.525390625, 64.248046875, -24.78515625, 6.814579963684082 ]
[ 2.373046875, 114.9609375, 100.72265625, 60.908203125, -19.951171875, 6.31944465637207 ]
3.166667
95
0
95
0
[ -3.1640625, 115.13671875, 98.4375, 65.830078125, -25.576171875, 6.814579963684082 ]
[ 2.021484375, 114.9609375, 100.72265625, 61.875, -21.357421875, 6.31944465637207 ]
3.2
96
0
96
0
[ -5.888671875, 115.13671875, 98.349609375, 67.5, -26.103515625, 6.814579963684082 ]
[ 1.494140625, 114.9609375, 100.72265625, 63.369140625, -22.5, 6.31944465637207 ]
3.233333
97
0
97
0
[ -9.052734375, 115.13671875, 98.349609375, 68.90625, -26.279296875, 6.814579963684082 ]
[ 0.52734375, 114.9609375, 100.72265625, 64.599609375, -23.5546875, 6.31944465637207 ]
3.266667
98
0
98
0
[ -12.12890625, 115.13671875, 98.26171875, 70.13671875, -26.19140625, 6.814579963684082 ]
[ -1.318359375, 114.9609375, 100.72265625, 66.09375, -24.345703125, 6.31944465637207 ]
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": 10,
    "total_frames": 8950,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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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                "width",
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            "info": {
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                "video.width": 640,
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                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                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",
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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