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Datasets:
sergiov2000
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so100_leader_ball_usability_u2_push_1

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Robotics
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Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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list
observation.state
list
timestamp
float32
0
59.9
frame_index
int64
0
1.2k
episode_index
int64
0
0
index
int64
0
1.2k
task_index
int64
0
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0.35
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0.65
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0.7
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0.75
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0.8
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0.85
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0.9
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0.95
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1
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1.05
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1.1
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1.15
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1.2
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1.25
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25
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1.3
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26
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1.35
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1.4
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28
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1.45
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1.5
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1.55
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1.6
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1.65
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1.7
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1.75
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1.8
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1.85
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1.9
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1.95
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2
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2.05
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2.1
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2.15
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2.2
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2.25
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2.3
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46
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2.35
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2.4
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2.45
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2.5
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2.55
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2.6
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2.65
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53
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2.7
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54
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2.75
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2.8
56
0
56
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2.85
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57
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2.9
58
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2.95
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59
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3
60
0
60
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3.05
61
0
61
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3.1
62
0
62
0
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[ 1.0546875, 184.21875, 181.494140625, 30.5859375, -11.162109375, 0.9105960130691528 ]
3.15
63
0
63
0
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[ 1.7578125, 184.21875, 180.966796875, 30.849609375, -11.337890625, 0.9105960130691528 ]
3.2
64
0
64
0
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[ 2.548828125, 184.21875, 180.3515625, 31.2890625, -11.337890625, 0.9105960130691528 ]
3.25
65
0
65
0
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[ 2.900390625, 184.04296875, 179.384765625, 31.9921875, -11.337890625, 0.9105960130691528 ]
3.3
66
0
66
0
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[ 2.8125, 183.8671875, 177.890625, 32.87109375, -11.337890625, 0.9105960130691528 ]
3.35
67
0
67
0
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[ 2.98828125, 183.603515625, 175.95703125, 34.1015625, -11.25, 0.9105960130691528 ]
3.4
68
0
68
0
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[ 3.8671875, 183.076171875, 174.0234375, 34.892578125, -10.72265625, 0.9105960130691528 ]
3.45
69
0
69
0
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[ 4.5703125, 182.373046875, 172.001953125, 35.771484375, -10.458984375, 0.9105960130691528 ]
3.5
70
0
70
0
[ 6.416015625, 178.505859375, 163.564453125, 36.5625, -11.07421875, -0.7157464027404785 ]
[ 4.5703125, 181.58203125, 170.068359375, 36.298828125, -10.283203125, 0.9105960130691528 ]
3.55
71
0
71
0
[ 7.3828125, 177.36328125, 162.24609375, 36.5625, -11.42578125, -0.7157464027404785 ]
[ 5.185546875, 180.52734375, 168.22265625, 36.298828125, -10.37109375, 0.9105960130691528 ]
3.6
72
0
72
0
[ 8.173828125, 175.869140625, 161.103515625, 36.5625, -11.953125, -0.7157464027404785 ]
[ 6.6796875, 179.208984375, 166.640625, 36.298828125, -10.810546875, 0.9105960130691528 ]
3.65
73
0
73
0
[ 9.052734375, 174.111328125, 159.609375, 36.474609375, -12.12890625, -0.7157464027404785 ]
[ 7.119140625, 177.978515625, 165.322265625, 36.298828125, -11.25, 0.9105960130691528 ]
3.7
74
0
74
0
[ 9.84375, 172.001953125, 158.203125, 36.38671875, -12.83203125, -0.7157464027404785 ]
[ 7.470703125, 176.484375, 164.091796875, 36.298828125, -11.6015625, 0.9105960130691528 ]
3.75
75
0
75
0
[ 10.8984375, 169.716796875, 156.533203125, 36.123046875, -13.095703125, -0.7157464027404785 ]
[ 8.701171875, 174.55078125, 162.509765625, 36.298828125, -11.865234375, 0.9105960130691528 ]
3.8
76
0
76
0
[ 11.953125, 167.255859375, 155.0390625, 35.859375, -13.974609375, -0.7157464027404785 ]
[ 10.01953125, 172.705078125, 161.103515625, 36.298828125, -12.392578125, 0.9105960130691528 ]
3.85
77
0
77
0
[ 13.095703125, 164.53125, 153.369140625, 35.68359375, -14.677734375, -0.7157464027404785 ]
[ 10.458984375, 170.68359375, 159.521484375, 36.298828125, -12.919921875, 0.9105960130691528 ]
3.9
78
0
78
0
[ 14.150390625, 161.630859375, 151.787109375, 35.68359375, -15.64453125, -0.7157464027404785 ]
[ 11.25, 168.22265625, 158.02734375, 36.298828125, -13.7109375, 0.9105960130691528 ]
3.95
79
0
79
0
[ 15.205078125, 158.818359375, 150.1171875, 35.5078125, -16.083984375, -0.7157464027404785 ]
[ 12.744140625, 165.234375, 156.4453125, 36.298828125, -14.4140625, 0.9105960130691528 ]
4
80
0
80
0
[ 15.908203125, 156.005859375, 148.447265625, 35.595703125, -16.962890625, -0.7157464027404785 ]
[ 14.0625, 162.59765625, 154.951171875, 36.298828125, -15.205078125, 0.9105960130691528 ]
4.05
81
0
81
0
[ 16.611328125, 153.369140625, 147.041015625, 35.5078125, -17.841796875, -0.7157464027404785 ]
[ 14.677734375, 159.873046875, 153.193359375, 36.298828125, -15.732421875, 0.9105960130691528 ]
4.1
82
0
82
0
[ 17.2265625, 150.380859375, 145.1953125, 35.419921875, -18.193359375, -0.7157464027404785 ]
[ 15.1171875, 157.1484375, 151.5234375, 36.298828125, -16.611328125, 0.9105960130691528 ]
4.15
83
0
83
0
[ 17.578125, 148.0078125, 143.61328125, 35.419921875, -18.720703125, -0.7157464027404785 ]
[ 16.171875, 154.423828125, 150.1171875, 36.298828125, -17.314453125, 0.9105960130691528 ]
4.2
84
0
84
0
[ 17.75390625, 145.986328125, 142.294921875, 35.244140625, -18.984375, -0.7157464027404785 ]
[ 17.314453125, 151.171875, 148.18359375, 36.298828125, -17.9296875, 0.9105960130691528 ]
4.25
85
0
85
0
[ 17.75390625, 144.580078125, 141.591796875, 35.068359375, -19.599609375, -0.7157464027404785 ]
[ 17.40234375, 148.7109375, 146.865234375, 36.2109375, -18.369140625, 0.9105960130691528 ]
4.3
86
0
86
0
[ 17.75390625, 143.61328125, 141.416015625, 34.1015625, -20.302734375, -0.7157464027404785 ]
[ 17.05078125, 146.42578125, 145.546875, 36.03515625, -18.80859375, 0.9105960130691528 ]
4.35
87
0
87
0
[ 17.75390625, 142.470703125, 141.416015625, 33.22265625, -21.005859375, -0.7157464027404785 ]
[ 17.490234375, 145.01953125, 144.66796875, 35.595703125, -19.423828125, 0.9105960130691528 ]
4.4
88
0
88
0
[ 17.9296875, 141.328125, 141.416015625, 32.16796875, -21.4453125, -0.7157464027404785 ]
[ 18.017578125, 143.7890625, 144.228515625, 34.716796875, -20.0390625, 0.9105960130691528 ]
4.45
89
0
89
0
[ 18.017578125, 139.921875, 141.240234375, 31.728515625, -21.97265625, -0.7157464027404785 ]
[ 18.017578125, 142.55859375, 144.228515625, 33.92578125, -20.654296875, 0.9105960130691528 ]
4.5
90
0
90
0
[ 18.10546875, 138.515625, 141.240234375, 30.5859375, -21.884765625, -0.7157464027404785 ]
[ 17.9296875, 141.240234375, 144.228515625, 33.046875, -21.181640625, 0.9105960130691528 ]
4.55
91
0
91
0
[ 18.193359375, 136.845703125, 141.240234375, 29.619140625, -21.708984375, -0.7157464027404785 ]
[ 17.9296875, 140.009765625, 144.228515625, 32.34375, -21.4453125, 0.9105960130691528 ]
4.6
92
0
92
0
[ 18.28125, 135.3515625, 141.240234375, 28.65234375, -21.708984375, -0.7157464027404785 ]
[ 17.9296875, 138.515625, 144.228515625, 31.2890625, -21.533203125, 0.9105960130691528 ]
4.65
93
0
93
0
[ 18.544921875, 133.857421875, 141.240234375, 27.861328125, -21.708984375, -0.7157464027404785 ]
[ 18.017578125, 137.021484375, 144.228515625, 30.41015625, -21.533203125, 0.9105960130691528 ]
4.7
94
0
94
0
[ 18.720703125, 132.71484375, 141.240234375, 27.24609375, -21.62109375, -0.7157464027404785 ]
[ 17.9296875, 135.439453125, 144.228515625, 29.35546875, -21.533203125, 0.9105960130691528 ]
4.75
95
0
95
0
[ 18.984375, 131.923828125, 141.240234375, 26.630859375, -21.62109375, -0.7157464027404785 ]
[ 18.017578125, 133.857421875, 144.228515625, 28.564453125, -21.533203125, 0.9105960130691528 ]
4.8
96
0
96
0
[ 19.16015625, 131.220703125, 141.240234375, 25.751953125, -21.62109375, -0.7157464027404785 ]
[ 18.45703125, 132.626953125, 144.228515625, 27.861328125, -21.533203125, 0.9105960130691528 ]
4.85
97
0
97
0
[ 19.3359375, 130.4296875, 141.240234375, 24.873046875, -21.62109375, -0.7157464027404785 ]
[ 18.896484375, 131.66015625, 144.228515625, 27.158203125, -21.533203125, 0.9105960130691528 ]
4.9
98
0
98
0
[ 19.599609375, 129.375, 141.240234375, 23.818359375, -21.796875, -0.7157464027404785 ]
[ 19.248046875, 131.044921875, 144.228515625, 26.3671875, -21.533203125, 0.9105960130691528 ]
4.95
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": 1,
    "total_frames": 1198,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:1"
    },
    "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.above": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 20.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.side": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 20.0,
                "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": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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