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Datasets:
gxy1111
/
so100_stick2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
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xet
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ -17.05078125, 140.625, 164.53125, 13.798828125, -85.4296875, 15.767635345458984 ]
2.466667
74
0
74
0
[ -18.10546875, 133.76953125, 161.455078125, -0.615234375, -89.12109375, 17.77777862548828 ]
[ -17.05078125, 138.603515625, 164.53125, 10.72265625, -86.220703125, 16.25172996520996 ]
2.5
75
0
75
0
[ -18.193359375, 132.5390625, 161.3671875, -1.7578125, -89.560546875, 17.866666793823242 ]
[ -17.138671875, 136.7578125, 164.53125, 7.470703125, -86.923828125, 16.666667938232422 ]
2.533333
76
0
76
0
[ -18.28125, 131.1328125, 160.6640625, -2.4609375, -89.208984375, 17.866666793823242 ]
[ -17.314453125, 135.17578125, 164.53125, 4.74609375, -87.71484375, 16.94329261779785 ]
2.566667
77
0
77
0
[ -18.28125, 129.462890625, 159.609375, -2.63671875, -88.59375, 17.77777862548828 ]
[ -17.490234375, 133.681640625, 164.53125, 2.548828125, -88.06640625, 17.150760650634766 ]
2.6
78
0
78
0
[ -18.28125, 127.705078125, 158.291015625, -2.900390625, -87.71484375, 17.77777862548828 ]
[ -17.578125, 132.451171875, 164.53125, 1.0546875, -88.06640625, 17.21991729736328 ]
2.633333
79
0
79
0
[ -18.10546875, 125.859375, 156.708984375, -2.98828125, -87.01171875, 17.600000381469727 ]
[ -17.578125, 130.78125, 164.091796875, 0.17578125, -87.978515625, 17.21991729736328 ]
2.666667
80
0
80
0
[ -18.017578125, 124.365234375, 155.0390625, -2.98828125, -86.044921875, 17.600000381469727 ]
[ -17.578125, 128.935546875, 163.037109375, -0.3515625, -87.802734375, 17.21991729736328 ]
2.7
81
0
81
0
[ -18.017578125, 123.046875, 153.45703125, -2.98828125, -85.25390625, 17.600000381469727 ]
[ -17.578125, 127.265625, 161.630859375, -0.791015625, -87.451171875, 17.21991729736328 ]
2.733333
82
0
82
0
[ -18.017578125, 121.728515625, 151.962890625, -2.98828125, -84.287109375, 17.600000381469727 ]
[ -17.578125, 125.5078125, 160.048828125, -1.0546875, -86.748046875, 17.21991729736328 ]
2.766667
83
0
83
0
[ -18.017578125, 120.673828125, 150.732421875, -2.98828125, -83.84765625, 17.600000381469727 ]
[ -17.578125, 124.013671875, 158.37890625, -1.23046875, -86.044921875, 17.21991729736328 ]
2.8
84
0
84
0
[ -17.9296875, 119.70703125, 149.677734375, -2.98828125, -83.3203125, 17.600000381469727 ]
[ -17.578125, 122.6953125, 156.884765625, -1.23046875, -85.341796875, 17.21991729736328 ]
2.833333
85
0
85
0
[ -17.9296875, 118.828125, 148.53515625, -2.98828125, -82.353515625, 17.600000381469727 ]
[ -17.578125, 121.376953125, 155.390625, -1.23046875, -84.7265625, 17.21991729736328 ]
2.866667
86
0
86
0
[ -17.841796875, 117.94921875, 147.65625, -2.98828125, -81.9140625, 17.600000381469727 ]
[ -17.578125, 120.322265625, 154.248046875, -1.23046875, -84.0234375, 17.21991729736328 ]
2.9
87
0
87
0
[ -17.75390625, 117.24609375, 147.12890625, -2.98828125, -81.73828125, 17.600000381469727 ]
[ -17.578125, 119.267578125, 153.10546875, -1.23046875, -83.408203125, 17.21991729736328 ]
2.933333
88
0
88
0
[ -17.75390625, 116.71875, 146.6015625, -2.98828125, -81.474609375, 17.600000381469727 ]
[ -17.578125, 118.30078125, 152.05078125, -1.23046875, -82.880859375, 17.21991729736328 ]
2.966667
89
0
89
0
[ -17.75390625, 116.103515625, 146.162109375, -2.98828125, -81.2109375, 17.600000381469727 ]
[ -17.578125, 117.509765625, 151.259765625, -1.23046875, -82.6171875, 17.21991729736328 ]
3
90
0
90
0
[ -17.666015625, 115.576171875, 145.72265625, -3.076171875, -80.859375, 17.600000381469727 ]
[ -17.578125, 116.71875, 150.556640625, -1.23046875, -82.265625, 17.21991729736328 ]
3.033333
91
0
91
0
[ -17.666015625, 114.9609375, 145.283203125, -3.076171875, -80.419921875, 17.600000381469727 ]
[ -17.578125, 116.103515625, 149.94140625, -1.23046875, -81.9140625, 17.21991729736328 ]
3.066667
92
0
92
0
[ -17.666015625, 114.521484375, 144.84375, -3.1640625, -79.892578125, 17.688888549804688 ]
[ -17.578125, 115.48828125, 149.4140625, -1.23046875, -81.474609375, 17.21991729736328 ]
3.1
93
0
93
0
[ -17.666015625, 114.08203125, 144.580078125, -3.1640625, -79.62890625, 17.688888549804688 ]
[ -17.578125, 114.873046875, 148.88671875, -1.23046875, -81.123046875, 17.21991729736328 ]
3.133333
94
0
94
0
[ -17.666015625, 113.642578125, 144.404296875, -3.251953125, -79.62890625, 17.77777862548828 ]
[ -17.578125, 114.345703125, 148.447265625, -1.23046875, -80.771484375, 17.21991729736328 ]
3.166667
95
0
95
0
[ -17.666015625, 113.203125, 144.404296875, -3.33984375, -79.541015625, 17.77777862548828 ]
[ -17.578125, 113.90625, 148.18359375, -1.23046875, -80.419921875, 17.21991729736328 ]
3.2
96
0
96
0
[ -17.666015625, 112.763671875, 144.31640625, -3.69140625, -79.62890625, 17.77777862548828 ]
[ -17.578125, 113.466796875, 147.919921875, -1.23046875, -80.244140625, 17.21991729736328 ]
3.233333
97
0
97
0
[ -17.666015625, 112.32421875, 144.4921875, -4.5703125, -79.62890625, 17.866666793823242 ]
[ -17.578125, 113.02734375, 147.744140625, -1.23046875, -80.244140625, 17.21991729736328 ]
3.266667
98
0
98
0
[ -17.666015625, 111.884765625, 144.4921875, -5.09765625, -79.62890625, 17.866666793823242 ]
[ -17.578125, 112.587890625, 147.744140625, -1.23046875, -80.244140625, 17.21991729736328 ]
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": 30,
    "total_frames": 9603,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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": [
                6
            ],
            "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.eye": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "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": "av1",
                "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": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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