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andaba
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so100_test2

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Robotics
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Tags:
LeRobot
so100
tutorial
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pandas
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action
sequence
observation.state
sequence
timestamp
float32
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9.93
frame_index
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0
index
int64
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task_index
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[ 2.98828125, 189.228515625, 179.296875, 42.626953125, -0.439453125, 0.6091370582580566 ]
2.4
72
0
72
0
[ 2.548828125, 189.4921875, 177.626953125, 37.705078125, -0.263671875, -0.10869564861059189 ]
[ 2.98828125, 189.228515625, 179.296875, 41.923828125, -0.439453125, 0.6091370582580566 ]
2.433333
73
0
73
0
[ 2.197265625, 189.4921875, 176.044921875, 37.353515625, -0.52734375, -0.10869564861059189 ]
[ 2.98828125, 189.228515625, 179.296875, 40.693359375, -0.439453125, 0.6091370582580566 ]
2.466667
74
0
74
0
[ 1.669921875, 189.4921875, 174.111328125, 37.96875, -0.615234375, -0.10869564861059189 ]
[ 2.900390625, 189.228515625, 179.208984375, 39.55078125, -0.439453125, 0.6091370582580566 ]
2.5
75
0
75
0
[ 1.318359375, 189.4921875, 172.001953125, 39.462890625, -0.791015625, -0.10869564861059189 ]
[ 2.548828125, 189.228515625, 178.76953125, 39.111328125, -0.439453125, 0.6091370582580566 ]
2.533333
76
0
76
0
[ 0.966796875, 189.228515625, 169.365234375, 41.220703125, -0.966796875, -0.10869564861059189 ]
[ 2.021484375, 189.228515625, 177.802734375, 39.111328125, -0.439453125, 0.6091370582580566 ]
2.566667
77
0
77
0
[ 0.791015625, 188.0859375, 166.2890625, 43.154296875, -1.0546875, -0.10869564861059189 ]
[ 1.669921875, 189.228515625, 176.30859375, 39.55078125, -0.439453125, 0.6091370582580566 ]
2.6
78
0
78
0
[ 0.615234375, 185.80078125, 162.59765625, 45, -1.0546875, -0.10869564861059189 ]
[ 1.40625, 189.228515625, 174.375, 40.60546875, -0.52734375, 0.6091370582580566 ]
2.633333
79
0
79
0
[ 0.52734375, 182.8125, 158.37890625, 46.845703125, -1.0546875, -0.10869564861059189 ]
[ 1.142578125, 188.525390625, 172.001953125, 42.099609375, -0.52734375, 0.6091370582580566 ]
2.666667
80
0
80
0
[ 0.52734375, 179.384765625, 154.3359375, 48.69140625, -1.0546875, -0.10869564861059189 ]
[ 0.966796875, 187.20703125, 169.189453125, 43.59375, -0.52734375, 0.6091370582580566 ]
2.7
81
0
81
0
[ 0.615234375, 176.748046875, 150.46875, 50.2734375, -1.0546875, -0.10869564861059189 ]
[ 0.87890625, 185.2734375, 165.9375, 45.17578125, -0.703125, 0.6091370582580566 ]
2.733333
82
0
82
0
[ 0.791015625, 175.341796875, 147.83203125, 51.50390625, -1.0546875, -0.10869564861059189 ]
[ 0.791015625, 182.724609375, 162.421875, 46.93359375, -0.791015625, 0.6091370582580566 ]
2.766667
83
0
83
0
[ 0.791015625, 175.078125, 146.337890625, 52.03125, -1.23046875, -0.10869564861059189 ]
[ 0.791015625, 180.087890625, 158.818359375, 48.603515625, -0.791015625, 0.6091370582580566 ]
2.8
84
0
84
0
[ 0.87890625, 175.4296875, 145.810546875, 52.20703125, -1.669921875, -0.10869564861059189 ]
[ 0.791015625, 177.890625, 155.302734375, 50.009765625, -0.791015625, 0.6091370582580566 ]
2.833333
85
0
85
0
[ 0.966796875, 175.95703125, 145.72265625, 52.119140625, -1.669921875, -0.10869564861059189 ]
[ 0.791015625, 176.923828125, 152.578125, 50.888671875, -0.966796875, 0.6091370582580566 ]
2.866667
86
0
86
0
[ 0.966796875, 176.220703125, 145.72265625, 51.767578125, -1.669921875, -0.10869564861059189 ]
[ 0.791015625, 176.748046875, 150.8203125, 51.416015625, -1.23046875, 0.6091370582580566 ]
2.9
87
0
87
0
[ 0.966796875, 176.30859375, 145.72265625, 51.328125, -1.669921875, -0.10869564861059189 ]
[ 0.791015625, 176.8359375, 149.853515625, 51.50390625, -1.318359375, 0.6091370582580566 ]
2.933333
88
0
88
0
[ 0.966796875, 175.95703125, 145.37109375, 50.80078125, -1.669921875, -0.10869564861059189 ]
[ 0.791015625, 176.66015625, 149.23828125, 51.50390625, -1.40625, 0.6091370582580566 ]
2.966667
89
0
89
0
[ 1.0546875, 175.341796875, 144.755859375, 50.2734375, -1.669921875, -0.10869564861059189 ]
[ 0.791015625, 176.396484375, 148.798828125, 51.50390625, -1.40625, 0.6091370582580566 ]
3
90
0
90
0
[ 1.318359375, 174.0234375, 143.7890625, 49.833984375, -1.669921875, -0.10869564861059189 ]
[ 0.791015625, 176.1328125, 148.447265625, 51.50390625, -1.40625, 0.6091370582580566 ]
3.033333
91
0
91
0
[ 1.58203125, 172.177734375, 142.294921875, 49.39453125, -1.669921875, -0.10869564861059189 ]
[ 0.791015625, 175.693359375, 147.919921875, 51.328125, -1.40625, 0.6091370582580566 ]
3.066667
92
0
92
0
[ 1.845703125, 169.8046875, 140.2734375, 49.39453125, -1.669921875, -0.10869564861059189 ]
[ 0.87890625, 174.814453125, 146.953125, 50.9765625, -1.40625, 0.6091370582580566 ]
3.1
93
0
93
0
[ 2.197265625, 167.34375, 138.076171875, 49.39453125, -1.669921875, -0.10869564861059189 ]
[ 1.142578125, 173.408203125, 145.810546875, 50.712890625, -1.40625, 0.6091370582580566 ]
3.133333
94
0
94
0
[ 2.63671875, 165.322265625, 135.966796875, 49.39453125, -1.669921875, -0.10869564861059189 ]
[ 1.40625, 171.73828125, 144.31640625, 50.537109375, -1.40625, 0.6091370582580566 ]
3.166667
95
0
95
0
[ 3.076171875, 163.65234375, 134.208984375, 49.21875, -1.669921875, -0.10869564861059189 ]
[ 1.7578125, 169.716796875, 142.470703125, 50.537109375, -1.40625, 0.6091370582580566 ]
3.2
96
0
96
0
[ 3.427734375, 161.982421875, 132.451171875, 49.130859375, -1.669921875, -0.10869564861059189 ]
[ 2.197265625, 167.6953125, 140.625, 50.537109375, -1.40625, 0.6091370582580566 ]
3.233333
97
0
97
0
[ 3.955078125, 160.400390625, 130.869140625, 49.04296875, -1.669921875, -0.10869564861059189 ]
[ 2.63671875, 165.849609375, 138.779296875, 50.44921875, -1.40625, 0.6091370582580566 ]
3.266667
98
0
98
0
[ 4.39453125, 158.818359375, 129.462890625, 48.8671875, -1.669921875, -0.10869564861059189 ]
[ 3.076171875, 164.091796875, 137.021484375, 50.2734375, -1.40625, 0.6091370582580566 ]
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": 1,
    "total_frames": 299,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "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": [
                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.laptop": {
            "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": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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