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Datasets:
cyoung96
/
so100_tennis_balls

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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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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[ -3.33984375, 92.548828125, 117.509765625, 80.859375, 1.845703125, -7.077625274658203 ]
[ 0.087890625, 90.966796875, 114.697265625, 80.947265625, 2.197265625, 28.712871551513672 ]
2.466667
74
0
74
0
[ -3.427734375, 94.21875, 118.65234375, 81.123046875, 1.845703125, -7.077625274658203 ]
[ 0, 91.40625, 115.3125, 80.947265625, 2.197265625, 28.712871551513672 ]
2.5
75
0
75
0
[ -3.603515625, 96.328125, 119.70703125, 81.73828125, 1.7578125, -7.077625274658203 ]
[ -0.615234375, 92.197265625, 116.19140625, 81.03515625, 2.197265625, 28.712871551513672 ]
2.533333
76
0
76
0
[ -3.8671875, 99.052734375, 120.498046875, 82.6171875, 1.7578125, -7.077625274658203 ]
[ -1.142578125, 93.515625, 117.158203125, 80.859375, 2.109375, 28.712871551513672 ]
2.566667
77
0
77
0
[ -4.306640625, 102.48046875, 121.11328125, 83.759765625, 1.7578125, -7.077625274658203 ]
[ -1.58203125, 94.833984375, 118.212890625, 81.03515625, 2.109375, 28.712871551513672 ]
2.6
78
0
78
0
[ -4.921875, 106.083984375, 121.376953125, 85.166015625, 1.7578125, -7.077625274658203 ]
[ -1.93359375, 96.064453125, 119.00390625, 81.73828125, 2.109375, 28.712871551513672 ]
2.633333
79
0
79
0
[ -5.537109375, 109.6875, 121.376953125, 86.572265625, 1.845703125, -7.077625274658203 ]
[ -2.28515625, 98.61328125, 119.70703125, 82.880859375, 2.109375, 28.712871551513672 ]
2.666667
80
0
80
0
[ -6.240234375, 113.291015625, 121.201171875, 88.06640625, 1.845703125, -7.077625274658203 ]
[ -2.900390625, 101.337890625, 120.76171875, 83.935546875, 2.109375, 28.712871551513672 ]
2.7
81
0
81
0
[ -6.943359375, 116.455078125, 120.76171875, 89.384765625, 2.109375, -7.077625274658203 ]
[ -3.69140625, 104.0625, 121.46484375, 85.078125, 2.109375, 28.712871551513672 ]
2.733333
82
0
82
0
[ -7.3828125, 119.443359375, 120.146484375, 90.52734375, 2.28515625, -7.077625274658203 ]
[ -4.658203125, 106.787109375, 121.640625, 87.36328125, 2.197265625, 28.712871551513672 ]
2.766667
83
0
83
0
[ -7.646484375, 121.552734375, 119.1796875, 91.7578125, 2.548828125, -7.191781044006348 ]
[ -5.361328125, 109.775390625, 121.81640625, 88.505859375, 2.197265625, 28.712871551513672 ]
2.8
84
0
84
0
[ -7.734375, 123.046875, 117.94921875, 92.900390625, 3.1640625, -7.191781044006348 ]
[ -5.888671875, 113.02734375, 121.552734375, 89.033203125, 2.28515625, 28.712871551513672 ]
2.833333
85
0
85
0
[ -7.646484375, 123.92578125, 116.103515625, 94.21875, 3.779296875, -7.191781044006348 ]
[ -6.15234375, 115.927734375, 121.11328125, 90.439453125, 2.373046875, 28.712871551513672 ]
2.866667
86
0
86
0
[ -7.3828125, 124.365234375, 113.642578125, 95.625, 4.482421875, -7.191781044006348 ]
[ -6.416015625, 118.30078125, 119.970703125, 92.109375, 2.8125, 28.712871551513672 ]
2.9
87
0
87
0
[ -7.20703125, 124.541015625, 110.830078125, 96.943359375, 5.09765625, -7.191781044006348 ]
[ -6.328125, 119.970703125, 118.65234375, 93.603515625, 3.33984375, 28.712871551513672 ]
2.933333
88
0
88
0
[ -7.20703125, 124.453125, 107.841796875, 98.349609375, 5.712890625, -7.191781044006348 ]
[ -6.15234375, 121.025390625, 116.806640625, 94.921875, 3.955078125, 28.712871551513672 ]
2.966667
89
0
89
0
[ -7.470703125, 123.92578125, 104.94140625, 99.4921875, 6.240234375, -7.191781044006348 ]
[ -6.15234375, 121.640625, 114.697265625, 96.240234375, 4.482421875, 28.712871551513672 ]
3
90
0
90
0
[ -7.734375, 123.22265625, 102.3046875, 100.546875, 6.85546875, -7.191781044006348 ]
[ -6.15234375, 121.904296875, 112.236328125, 97.470703125, 5.009765625, 28.712871551513672 ]
3.033333
91
0
91
0
[ -8.0859375, 122.255859375, 99.4921875, 101.513671875, 7.470703125, -7.191781044006348 ]
[ -6.15234375, 121.9921875, 109.599609375, 98.61328125, 5.625, 28.712871551513672 ]
3.066667
92
0
92
0
[ -8.4375, 121.025390625, 96.15234375, 102.568359375, 8.349609375, -7.191781044006348 ]
[ -6.15234375, 121.9921875, 106.875, 99.755859375, 6.240234375, 28.712871551513672 ]
3.1
93
0
93
0
[ -8.701171875, 119.35546875, 92.4609375, 103.798828125, 9.140625, -7.191781044006348 ]
[ -6.15234375, 121.728515625, 104.150390625, 100.810546875, 6.85546875, 28.712871551513672 ]
3.133333
94
0
94
0
[ -9.140625, 117.333984375, 87.890625, 105.1171875, 10.01953125, -7.191781044006348 ]
[ -6.15234375, 121.025390625, 101.162109375, 101.865234375, 7.646484375, 28.712871551513672 ]
3.166667
95
0
95
0
[ -9.228515625, 115.3125, 83.408203125, 105.732421875, 10.986328125, -7.191781044006348 ]
[ -6.15234375, 119.8828125, 97.734375, 103.18359375, 8.349609375, 28.712871551513672 ]
3.2
96
0
96
0
[ -9.228515625, 113.642578125, 79.541015625, 105.8203125, 11.42578125, -7.191781044006348 ]
[ -6.15234375, 118.212890625, 93.515625, 104.150390625, 9.228515625, 28.712871551513672 ]
3.233333
97
0
97
0
[ -9.228515625, 111.533203125, 75.5859375, 105.908203125, 11.77734375, -7.191781044006348 ]
[ -6.15234375, 116.54296875, 89.736328125, 104.23828125, 10.107421875, 28.712871551513672 ]
3.266667
98
0
98
0
[ -9.052734375, 109.248046875, 71.982421875, 105.908203125, 12.041015625, -7.191781044006348 ]
[ -6.15234375, 114.873046875, 85.95703125, 104.58984375, 10.634765625, 28.712871551513672 ]
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": 2,
    "total_frames": 1194,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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.arm_camera": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.phone": {
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                640,
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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