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Datasets:
doujiangwang
/
task7_20epi_100000step

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
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14.9
frame_index
int64
0
447
episode_index
int64
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19
index
int64
0
8.96k
task_index
int64
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[ 14.4140625, 161.279296875, 135.791015625, 71.89453125, -1.142578125, 0.7017543911933899 ]
2.4
72
0
72
0
[ 16.875, 151.171875, 125.771484375, 75.146484375, -1.40625, 1.7351597547531128 ]
[ 14.58984375, 158.994140625, 134.384765625, 72.421875, -1.142578125, 0.7894736528396606 ]
2.433333
73
0
73
0
[ 17.490234375, 147.83203125, 123.3984375, 76.2890625, -1.40625, 2.0091323852539062 ]
[ 14.677734375, 156.62109375, 132.890625, 73.30078125, -1.142578125, 0.7894736528396606 ]
2.466667
74
0
74
0
[ 18.193359375, 144.66796875, 121.11328125, 77.34375, -1.40625, 2.1917808055877686 ]
[ 15.205078125, 154.16015625, 131.044921875, 74.1796875, -1.142578125, 0.7894736528396606 ]
2.5
75
0
75
0
[ 18.984375, 141.85546875, 119.091796875, 77.958984375, -1.494140625, 2.1917808055877686 ]
[ 15.99609375, 151.34765625, 129.111328125, 75.05859375, -1.142578125, 1.2280701398849487 ]
2.533333
76
0
76
0
[ 19.6875, 139.658203125, 117.509765625, 78.310546875, -1.58203125, 2.9223744869232178 ]
[ 16.962890625, 148.18359375, 127.177734375, 75.849609375, -1.142578125, 1.4035087823867798 ]
2.566667
77
0
77
0
[ 20.21484375, 138.1640625, 116.3671875, 78.486328125, -1.7578125, 4.474885940551758 ]
[ 17.75390625, 145.107421875, 125.244140625, 76.376953125, -1.142578125, 1.4912279844284058 ]
2.6
78
0
78
0
[ 20.56640625, 137.28515625, 115.751953125, 78.486328125, -2.021484375, 6.940639019012451 ]
[ 18.193359375, 142.470703125, 123.310546875, 77.080078125, -1.142578125, 1.5789473056793213 ]
2.633333
79
0
79
0
[ 20.56640625, 136.845703125, 115.48828125, 78.486328125, -2.4609375, 7.853881359100342 ]
[ 18.80859375, 140.361328125, 121.728515625, 77.431640625, -1.142578125, 2.1052632331848145 ]
2.666667
80
0
80
0
[ 20.654296875, 136.845703125, 115.3125, 78.662109375, -2.4609375, 8.584474563598633 ]
[ 18.984375, 138.8671875, 120.5859375, 77.51953125, -1.318359375, 3.859649181365967 ]
2.7
81
0
81
0
[ 20.654296875, 136.845703125, 115.224609375, 78.837890625, -2.63671875, 9.497716903686523 ]
[ 19.423828125, 137.63671875, 119.794921875, 77.6953125, -1.494140625, 5.087718963623047 ]
2.733333
82
0
82
0
[ 20.654296875, 136.845703125, 115.224609375, 78.92578125, -3.427734375, 10.86758041381836 ]
[ 19.599609375, 136.845703125, 119.443359375, 77.783203125, -1.494140625, 6.228070259094238 ]
2.766667
83
0
83
0
[ 20.654296875, 136.58203125, 115.13671875, 78.92578125, -4.21875, 12.237442970275879 ]
[ 19.86328125, 136.494140625, 119.35546875, 77.783203125, -1.494140625, 7.280701637268066 ]
2.8
84
0
84
0
[ 20.7421875, 136.142578125, 114.9609375, 78.92578125, -4.74609375, 13.333333969116211 ]
[ 19.86328125, 136.318359375, 119.35546875, 77.783203125, -2.109375, 8.508771896362305 ]
2.833333
85
0
85
0
[ 20.830078125, 135.3515625, 114.697265625, 78.92578125, -5.888671875, 14.520547866821289 ]
[ 19.86328125, 136.142578125, 119.35546875, 77.783203125, -2.8125, 9.912281036376953 ]
2.866667
86
0
86
0
[ 21.005859375, 134.296875, 114.43359375, 78.92578125, -6.240234375, 15.068493843078613 ]
[ 19.86328125, 136.0546875, 119.35546875, 77.783203125, -3.076171875, 11.140351295471191 ]
2.9
87
0
87
0
[ 21.09375, 132.802734375, 113.994140625, 79.013671875, -6.943359375, 16.07305908203125 ]
[ 19.951171875, 135.52734375, 119.35546875, 77.783203125, -3.779296875, 12.280701637268066 ]
2.933333
88
0
88
0
[ 21.26953125, 131.220703125, 113.5546875, 79.013671875, -7.03125, 16.164382934570312 ]
[ 20.0390625, 134.560546875, 119.35546875, 77.783203125, -4.5703125, 13.421052932739258 ]
2.966667
89
0
89
0
[ 21.357421875, 129.462890625, 113.115234375, 79.013671875, -7.119140625, 16.347030639648438 ]
[ 20.126953125, 133.330078125, 119.35546875, 78.22265625, -5.009765625, 14.385965347290039 ]
3
90
0
90
0
[ 21.357421875, 127.6171875, 112.67578125, 79.013671875, -7.119140625, 16.894977569580078 ]
[ 20.390625, 132.01171875, 119.35546875, 78.486328125, -5.712890625, 14.824562072753906 ]
3.033333
91
0
91
0
[ 21.4453125, 125.859375, 112.1484375, 78.92578125, -7.20703125, 17.168949127197266 ]
[ 20.478515625, 130.60546875, 119.267578125, 78.57421875, -5.9765625, 15.175437927246094 ]
3.066667
92
0
92
0
[ 21.4453125, 124.013671875, 111.4453125, 78.92578125, -7.20703125, 17.716894149780273 ]
[ 20.654296875, 128.671875, 118.916015625, 78.662109375, -6.240234375, 15.526315689086914 ]
3.1
93
0
93
0
[ 21.4453125, 122.34375, 110.7421875, 78.837890625, -7.20703125, 18.72146224975586 ]
[ 20.7421875, 126.73828125, 117.94921875, 78.3984375, -6.240234375, 16.140350341796875 ]
3.133333
94
0
94
0
[ 21.4453125, 121.025390625, 110.302734375, 78.486328125, -7.20703125, 20.456621170043945 ]
[ 20.91796875, 125.244140625, 116.89453125, 78.3984375, -6.240234375, 16.403507232666016 ]
3.166667
95
0
95
0
[ 21.357421875, 119.794921875, 109.775390625, 78.310546875, -7.20703125, 21.004566192626953 ]
[ 21.09375, 123.837890625, 115.6640625, 78.3984375, -6.328125, 17.192981719970703 ]
3.2
96
0
96
0
[ 21.26953125, 118.916015625, 109.072265625, 78.22265625, -7.20703125, 22.19178009033203 ]
[ 21.181640625, 122.34375, 114.697265625, 78.310546875, -6.328125, 18.421052932739258 ]
3.233333
97
0
97
0
[ 21.181640625, 118.037109375, 108.6328125, 78.134765625, -7.20703125, 22.648401260375977 ]
[ 21.181640625, 120.5859375, 113.818359375, 78.310546875, -6.328125, 19.561403274536133 ]
3.266667
98
0
98
0
[ 21.09375, 117.333984375, 108.193359375, 78.134765625, -7.20703125, 22.739727020263672 ]
[ 21.181640625, 119.091796875, 113.466796875, 78.310546875, -6.328125, 20.350875854492188 ]
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": 20,
    "total_frames": 8960,
    "total_tasks": 1,
    "total_videos": 40,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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": {
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            "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
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.camera_1": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.camera_2": {
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            "names": [
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            "info": {
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        },
        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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        }
    }
}

Citation

BibTeX:

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License:
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