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Datasets:
gxy1111
/
so100_stick_l

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
14
frame_index
int64
0
419
episode_index
int64
0
29
index
int64
0
8.79k
task_index
int64
0
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[ -14.326171875, 125.68359375, 150.8203125, 15.46875, -70.927734375, 14.522822380065918 ]
2.466667
74
0
74
0
[ -14.326171875, 120.05859375, 142.822265625, 11.77734375, -70.3125, 16.266666412353516 ]
[ -14.326171875, 123.837890625, 149.23828125, 15.029296875, -70.927734375, 14.799447059631348 ]
2.5
75
0
75
0
[ -14.23828125, 118.828125, 142.20703125, 10.810546875, -70.83984375, 16.266666412353516 ]
[ -14.326171875, 122.255859375, 147.919921875, 14.501953125, -70.927734375, 15.076072692871094 ]
2.533333
76
0
76
0
[ -14.23828125, 117.94921875, 141.416015625, 10.546875, -71.015625, 16.44444465637207 ]
[ -14.326171875, 120.76171875, 146.953125, 13.7109375, -70.927734375, 15.421854019165039 ]
2.566667
77
0
77
0
[ -14.326171875, 117.24609375, 140.712890625, 10.37109375, -70.927734375, 16.44444465637207 ]
[ -14.326171875, 119.35546875, 146.162109375, 12.83203125, -70.927734375, 15.62932300567627 ]
2.6
78
0
78
0
[ -14.4140625, 116.455078125, 140.185546875, 10.107421875, -71.103515625, 16.53333282470703 ]
[ -14.326171875, 118.212890625, 145.37109375, 12.392578125, -70.927734375, 15.8367919921875 ]
2.633333
79
0
79
0
[ -14.501953125, 115.751953125, 139.74609375, 9.84375, -71.279296875, 16.53333282470703 ]
[ -14.326171875, 117.333984375, 144.66796875, 12.041015625, -70.927734375, 15.9059476852417 ]
2.666667
80
0
80
0
[ -14.58984375, 115.13671875, 139.482421875, 9.4921875, -71.3671875, 16.622222900390625 ]
[ -14.326171875, 116.455078125, 143.96484375, 11.689453125, -70.927734375, 15.975104331970215 ]
2.7
81
0
81
0
[ -14.58984375, 114.521484375, 139.39453125, 8.701171875, -71.630859375, 16.711111068725586 ]
[ -14.326171875, 115.576171875, 143.349609375, 11.337890625, -70.927734375, 16.11341667175293 ]
2.733333
82
0
82
0
[ -14.58984375, 113.994140625, 139.39453125, 7.998046875, -71.806640625, 16.799999237060547 ]
[ -14.326171875, 114.873046875, 142.998046875, 10.986328125, -70.927734375, 16.182573318481445 ]
2.766667
83
0
83
0
[ -14.58984375, 113.5546875, 139.39453125, 7.03125, -71.54296875, 17.066665649414062 ]
[ -14.326171875, 114.345703125, 142.91015625, 10.283203125, -70.927734375, 16.320886611938477 ]
2.8
84
0
84
0
[ -14.58984375, 113.115234375, 139.482421875, 5.888671875, -71.455078125, 17.244443893432617 ]
[ -14.326171875, 113.642578125, 142.91015625, 9.66796875, -71.015625, 16.39004135131836 ]
2.833333
85
0
85
0
[ -14.58984375, 112.67578125, 139.39453125, 5.361328125, -71.54296875, 17.33333396911621 ]
[ -14.326171875, 113.203125, 142.91015625, 8.876953125, -71.015625, 16.52835464477539 ]
2.866667
86
0
86
0
[ -14.58984375, 112.236328125, 139.130859375, 4.833984375, -71.54296875, 17.33333396911621 ]
[ -14.326171875, 112.8515625, 142.91015625, 7.998046875, -71.015625, 16.735822677612305 ]
2.9
87
0
87
0
[ -14.58984375, 111.708984375, 138.955078125, 4.306640625, -71.630859375, 17.422222137451172 ]
[ -14.326171875, 112.32421875, 142.91015625, 7.294921875, -71.015625, 16.80497932434082 ]
2.933333
88
0
88
0
[ -14.58984375, 111.09375, 138.69140625, 3.603515625, -71.806640625, 17.422222137451172 ]
[ -14.326171875, 111.796875, 142.91015625, 6.6796875, -71.015625, 16.94329261779785 ]
2.966667
89
0
89
0
[ -14.501953125, 110.390625, 138.251953125, 2.900390625, -71.71875, 17.422222137451172 ]
[ -14.326171875, 111.357421875, 142.91015625, 6.064453125, -71.015625, 16.94329261779785 ]
3
90
0
90
0
[ -14.4140625, 109.599609375, 137.63671875, 2.4609375, -71.71875, 17.422222137451172 ]
[ -14.326171875, 110.830078125, 142.91015625, 5.44921875, -71.015625, 16.94329261779785 ]
3.033333
91
0
91
0
[ -14.326171875, 108.6328125, 137.021484375, 1.845703125, -71.630859375, 17.422222137451172 ]
[ -14.326171875, 110.126953125, 142.91015625, 4.74609375, -71.015625, 16.94329261779785 ]
3.066667
92
0
92
0
[ -14.326171875, 107.578125, 136.494140625, 1.142578125, -71.630859375, 17.511112213134766 ]
[ -14.326171875, 109.3359375, 142.91015625, 4.21875, -71.015625, 16.94329261779785 ]
3.1
93
0
93
0
[ -14.326171875, 106.611328125, 136.0546875, 0.263671875, -71.630859375, 17.422222137451172 ]
[ -14.326171875, 108.45703125, 142.91015625, 3.603515625, -71.015625, 16.94329261779785 ]
3.133333
94
0
94
0
[ -14.4140625, 105.556640625, 135.615234375, -0.439453125, -71.806640625, 17.33333396911621 ]
[ -14.326171875, 107.490234375, 142.91015625, 2.900390625, -71.015625, 16.94329261779785 ]
3.166667
95
0
95
0
[ -14.4140625, 104.4140625, 135.263671875, -1.58203125, -71.71875, 17.33333396911621 ]
[ -14.326171875, 106.435546875, 142.20703125, 2.197265625, -71.015625, 16.94329261779785 ]
3.2
96
0
96
0
[ -14.4140625, 103.359375, 134.912109375, -2.8125, -71.71875, 17.155555725097656 ]
[ -14.326171875, 105.380859375, 140.712890625, 1.494140625, -71.015625, 16.94329261779785 ]
3.233333
97
0
97
0
[ -14.326171875, 102.48046875, 134.736328125, -4.21875, -71.71875, 17.155555725097656 ]
[ -14.326171875, 104.4140625, 139.5703125, 0.52734375, -71.015625, 16.94329261779785 ]
3.266667
98
0
98
0
[ -14.23828125, 101.865234375, 134.560546875, -5.537109375, -71.455078125, 17.155555725097656 ]
[ -14.4140625, 103.271484375, 138.603515625, -0.615234375, -71.015625, 16.94329261779785 ]
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": 8792,
    "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"
            ],
            "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",
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                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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Number of rows:
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