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Datasets:
mldev19
/
so100_test_brick_1

Tasks:
Robotics
Modalities:
Tabular
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Video
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< 1K
Tags:
LeRobot
so100
tutorial
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Dask
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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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[ 4.5703125, 41.923828125, 14.501953125, 94.921875, -21.533203125, 1.1607142686843872 ]
[ 3.779296875, 29.970703125, 16.5234375, 90.52734375, -21.09375, 5.424200534820557 ]
2.466667
74
0
74
0
[ 4.5703125, 43.681640625, 14.501953125, 96.328125, -21.533203125, 1.1607142686843872 ]
[ 3.779296875, 30.76171875, 16.5234375, 91.58203125, -20.91796875, 5.424200534820557 ]
2.5
75
0
75
0
[ 4.5703125, 45.439453125, 14.501953125, 97.55859375, -21.533203125, 1.25 ]
[ 3.8671875, 31.81640625, 16.5234375, 92.8125, -20.91796875, 5.424200534820557 ]
2.533333
76
0
76
0
[ 4.5703125, 46.93359375, 14.501953125, 98.701171875, -21.533203125, 1.25 ]
[ 3.8671875, 33.22265625, 16.5234375, 94.04296875, -20.91796875, 5.424200534820557 ]
2.566667
77
0
77
0
[ 4.482421875, 48.251953125, 14.501953125, 99.66796875, -21.533203125, 1.25 ]
[ 3.8671875, 35.068359375, 16.5234375, 95.44921875, -20.91796875, 5.424200534820557 ]
2.6
78
0
78
0
[ 4.306640625, 49.482421875, 14.501953125, 100.72265625, -21.533203125, 1.25 ]
[ 3.8671875, 36.5625, 16.5234375, 96.50390625, -20.91796875, 5.424200534820557 ]
2.633333
79
0
79
0
[ 4.130859375, 50.625, 14.501953125, 101.865234375, -21.533203125, 1.25 ]
[ 3.8671875, 38.14453125, 16.5234375, 97.646484375, -20.91796875, 5.424200534820557 ]
2.666667
80
0
80
0
[ 3.779296875, 51.767578125, 14.501953125, 103.0078125, -21.533203125, 1.25 ]
[ 3.8671875, 39.7265625, 16.5234375, 98.7890625, -20.91796875, 5.424200534820557 ]
2.7
81
0
81
0
[ 3.33984375, 52.734375, 14.501953125, 103.974609375, -21.533203125, 1.1607142686843872 ]
[ 3.8671875, 41.1328125, 16.5234375, 99.931640625, -20.91796875, 5.424200534820557 ]
2.733333
82
0
82
0
[ 2.724609375, 53.61328125, 14.501953125, 104.677734375, -21.533203125, 1.1607142686843872 ]
[ 3.8671875, 42.451171875, 16.5234375, 100.986328125, -20.91796875, 5.424200534820557 ]
2.766667
83
0
83
0
[ 2.021484375, 54.4921875, 14.501953125, 105.205078125, -21.533203125, 1.1607142686843872 ]
[ 3.779296875, 43.857421875, 16.5234375, 101.6015625, -20.91796875, 5.424200534820557 ]
2.8
84
0
84
0
[ 1.318359375, 55.283203125, 14.501953125, 105.556640625, -21.4453125, 1.1607142686843872 ]
[ 3.515625, 44.912109375, 16.5234375, 102.12890625, -20.91796875, 5.424200534820557 ]
2.833333
85
0
85
0
[ 0.439453125, 55.986328125, 14.501953125, 105.908203125, -21.181640625, 1.1607142686843872 ]
[ 3.1640625, 45.966796875, 16.5234375, 102.392578125, -20.91796875, 5.424200534820557 ]
2.866667
86
0
86
0
[ -0.52734375, 56.6015625, 14.501953125, 106.259765625, -21.09375, 1.1607142686843872 ]
[ 2.548828125, 46.845703125, 16.5234375, 102.48046875, -20.91796875, 5.424200534820557 ]
2.9
87
0
87
0
[ -1.40625, 57.216796875, 14.501953125, 106.5234375, -21.09375, 1.1607142686843872 ]
[ 1.7578125, 47.724609375, 16.5234375, 102.48046875, -20.91796875, 5.424200534820557 ]
2.933333
88
0
88
0
[ -2.4609375, 57.744140625, 14.501953125, 106.69921875, -21.09375, 1.1607142686843872 ]
[ 0.966796875, 48.427734375, 16.5234375, 102.48046875, -20.91796875, 5.424200534820557 ]
2.966667
89
0
89
0
[ -3.427734375, 58.18359375, 14.501953125, 106.875, -21.09375, 1.1607142686843872 ]
[ 0.087890625, 49.21875, 16.5234375, 102.568359375, -20.91796875, 5.424200534820557 ]
3
90
0
90
0
[ -4.39453125, 58.53515625, 14.501953125, 106.962890625, -21.005859375, 1.25 ]
[ -0.966796875, 50.009765625, 16.5234375, 102.65625, -20.91796875, 5.424200534820557 ]
3.033333
91
0
91
0
[ -5.44921875, 58.88671875, 14.58984375, 106.962890625, -21.005859375, 1.3392857313156128 ]
[ -1.845703125, 50.537109375, 16.5234375, 102.744140625, -20.91796875, 5.424200534820557 ]
3.066667
92
0
92
0
[ -6.416015625, 59.23828125, 14.58984375, 106.962890625, -21.005859375, 1.3392857313156128 ]
[ -2.98828125, 51.064453125, 16.5234375, 102.744140625, -20.91796875, 5.424200534820557 ]
3.1
93
0
93
0
[ -7.294921875, 59.677734375, 14.853515625, 106.962890625, -20.91796875, 1.3392857313156128 ]
[ -3.955078125, 51.50390625, 16.5234375, 102.744140625, -20.91796875, 5.424200534820557 ]
3.133333
94
0
94
0
[ -8.26171875, 60.380859375, 15.46875, 106.962890625, -20.91796875, 1.3392857313156128 ]
[ -4.921875, 51.85546875, 16.5234375, 102.744140625, -20.91796875, 5.424200534820557 ]
3.166667
95
0
95
0
[ -9.140625, 61.259765625, 16.611328125, 106.962890625, -20.91796875, 1.3392857313156128 ]
[ -5.9765625, 52.294921875, 16.5234375, 102.744140625, -20.91796875, 5.424200534820557 ]
3.2
96
0
96
0
[ -10.01953125, 62.314453125, 18.10546875, 106.69921875, -21.005859375, 1.3392857313156128 ]
[ -6.943359375, 52.822265625, 16.5234375, 102.744140625, -20.91796875, 5.424200534820557 ]
3.233333
97
0
97
0
[ -10.8984375, 63.544921875, 20.21484375, 106.259765625, -21.181640625, 1.3392857313156128 ]
[ -7.91015625, 53.4375, 16.875, 102.744140625, -20.91796875, 5.424200534820557 ]
3.266667
98
0
98
0
[ -11.865234375, 65.0390625, 22.939453125, 105.46875, -21.357421875, 1.3392857313156128 ]
[ -8.876953125, 54.4921875, 17.9296875, 102.744140625, -20.91796875, 5.424200534820557 ]
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": 446,
    "total_tasks": 1,
    "total_videos": 2,
    "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": [
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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.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": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "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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