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Datasets:
zijian2022
/
assemblyarm1_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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pandas
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
59.6
frame_index
int64
0
1.79k
episode_index
int64
0
0
index
int64
0
1.79k
task_index
int64
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[ -20.7421875, 190.1953125, 176.396484375, -6.416015625, 2.021484375, -0.34692108631134033 ]
[ -19.3359375, 188.7890625, 176.572265625, -4.482421875, 1.58203125, 0.36330607533454895 ]
2.366667
71
0
71
0
[ -20.654296875, 190.1953125, 176.396484375, -6.328125, 2.021484375, -0.34692108631134033 ]
[ -19.3359375, 188.7890625, 176.572265625, -4.482421875, 1.58203125, 0.36330607533454895 ]
2.4
72
0
72
0
[ -20.654296875, 190.1953125, 176.396484375, -6.328125, 2.021484375, -0.34692108631134033 ]
[ -19.3359375, 188.7890625, 176.572265625, -4.482421875, 1.58203125, 0.36330607533454895 ]
2.433333
73
0
73
0
[ -20.654296875, 190.1953125, 176.396484375, -6.328125, 2.021484375, -0.34692108631134033 ]
[ -19.3359375, 188.7890625, 176.572265625, -4.482421875, 1.58203125, 0.36330607533454895 ]
2.466667
74
0
74
0
[ -20.654296875, 190.1953125, 176.396484375, -6.328125, 2.021484375, -0.34692108631134033 ]
[ -19.3359375, 188.7890625, 176.572265625, -4.482421875, 1.58203125, 0.36330607533454895 ]
2.5
75
0
75
0
[ -20.654296875, 190.1953125, 176.396484375, -6.328125, 2.021484375, -0.34692108631134033 ]
[ -19.3359375, 188.7890625, 176.572265625, -4.482421875, 1.58203125, 0.36330607533454895 ]
2.533333
76
0
76
0
[ -20.654296875, 190.1953125, 176.396484375, -6.240234375, 2.021484375, -0.34692108631134033 ]
[ -19.3359375, 188.7890625, 176.572265625, -4.482421875, 1.58203125, 0.36330607533454895 ]
2.566667
77
0
77
0
[ -20.654296875, 190.1953125, 176.396484375, -6.15234375, 2.021484375, -0.34692108631134033 ]
[ -19.3359375, 188.7890625, 176.572265625, -4.482421875, 1.58203125, 0.36330607533454895 ]
2.6
78
0
78
0
[ -20.654296875, 190.1953125, 176.396484375, -5.9765625, 2.021484375, -0.34692108631134033 ]
[ -19.3359375, 188.7890625, 176.572265625, -4.482421875, 1.58203125, 0.36330607533454895 ]
2.633333
79
0
79
0
[ -20.654296875, 190.1953125, 176.396484375, -5.44921875, 2.021484375, -0.34692108631134033 ]
[ -19.3359375, 188.7890625, 176.572265625, -4.482421875, 1.58203125, 0.36330607533454895 ]
2.666667
80
0
80
0
[ -20.7421875, 190.1953125, 176.396484375, -4.21875, 2.021484375, -0.34692108631134033 ]
[ -19.3359375, 188.7890625, 176.572265625, -4.482421875, 1.58203125, 0.36330607533454895 ]
2.7
81
0
81
0
[ -20.830078125, 190.1953125, 176.396484375, -2.548828125, 2.021484375, -0.34692108631134033 ]
[ -19.3359375, 188.7890625, 176.572265625, -4.482421875, 1.58203125, 0.36330607533454895 ]
2.733333
82
0
82
0
[ -20.91796875, 190.107421875, 176.396484375, -0.52734375, 2.900390625, -0.34692108631134033 ]
[ -19.3359375, 188.7890625, 176.572265625, -4.306640625, 1.58203125, 0.36330607533454895 ]
2.766667
83
0
83
0
[ -20.830078125, 190.107421875, 176.748046875, 2.109375, 7.20703125, -0.34692108631134033 ]
[ -19.3359375, 188.7890625, 176.572265625, -3.251953125, 1.58203125, 0.36330607533454895 ]
2.8
84
0
84
0
[ -20.126953125, 190.107421875, 177.01171875, 4.04296875, 7.91015625, -0.34692108631134033 ]
[ -19.3359375, 188.7890625, 176.572265625, -1.669921875, 1.58203125, 0.36330607533454895 ]
2.833333
85
0
85
0
[ -19.423828125, 190.01953125, 177.01171875, 5.80078125, 7.91015625, -0.34692108631134033 ]
[ -19.3359375, 188.7890625, 176.572265625, 0, 2.63671875, 0.36330607533454895 ]
2.866667
86
0
86
0
[ -18.45703125, 190.01953125, 177.01171875, 7.822265625, 7.91015625, -0.34692108631134033 ]
[ -19.3359375, 188.7890625, 177.099609375, 1.845703125, 4.5703125, 0.36330607533454895 ]
2.9
87
0
87
0
[ -17.841796875, 190.01953125, 177.01171875, 9.4921875, 7.91015625, -0.34692108631134033 ]
[ -19.3359375, 188.876953125, 177.275390625, 3.427734375, 5.537109375, 0.36330607533454895 ]
2.933333
88
0
88
0
[ -17.490234375, 190.01953125, 177.01171875, 11.865234375, 7.91015625, -0.34692108631134033 ]
[ -18.80859375, 188.7890625, 177.36328125, 4.921875, 5.888671875, 0.36330607533454895 ]
2.966667
89
0
89
0
[ -17.2265625, 190.01953125, 177.01171875, 15.29296875, 7.91015625, -0.34692108631134033 ]
[ -18.017578125, 188.7890625, 177.451171875, 6.943359375, 6.240234375, 0.36330607533454895 ]
3
90
0
90
0
[ -16.875, 190.01953125, 177.01171875, 18.45703125, 7.91015625, -0.34692108631134033 ]
[ -17.490234375, 188.7890625, 177.451171875, 8.96484375, 6.416015625, 0.36330607533454895 ]
3.033333
91
0
91
0
[ -16.5234375, 189.66796875, 177.01171875, 21.533203125, 7.91015625, -0.34692108631134033 ]
[ -17.40234375, 188.7890625, 177.451171875, 11.25, 6.591796875, 0.36330607533454895 ]
3.066667
92
0
92
0
[ -16.34765625, 189.31640625, 177.01171875, 25.13671875, 7.91015625, -0.34692108631134033 ]
[ -17.2265625, 188.7890625, 177.451171875, 14.150390625, 6.591796875, 0.36330607533454895 ]
3.1
93
0
93
0
[ -16.083984375, 189.052734375, 177.01171875, 28.388671875, 7.91015625, -0.34692108631134033 ]
[ -16.875, 188.7890625, 177.451171875, 17.138671875, 6.591796875, 0.36330607533454895 ]
3.133333
94
0
94
0
[ -15.8203125, 188.525390625, 177.01171875, 31.025390625, 7.734375, -0.34692108631134033 ]
[ -16.34765625, 188.7890625, 177.451171875, 20.126953125, 6.591796875, 0.36330607533454895 ]
3.166667
95
0
95
0
[ -15.556640625, 187.3828125, 177.099609375, 32.16796875, 6.591796875, -0.34692108631134033 ]
[ -16.259765625, 188.7890625, 177.451171875, 23.466796875, 6.591796875, 0.36330607533454895 ]
3.2
96
0
96
0
[ -15.029296875, 186.15234375, 177.099609375, 32.16796875, 5.009765625, -0.34692108631134033 ]
[ -16.259765625, 188.7890625, 177.451171875, 26.71875, 6.591796875, 0.36330607533454895 ]
3.233333
97
0
97
0
[ -14.150390625, 184.921875, 177.099609375, 32.16796875, 4.658203125, -0.34692108631134033 ]
[ -15.8203125, 188.26171875, 177.451171875, 29.1796875, 6.240234375, 0.36330607533454895 ]
3.266667
98
0
98
0
[ -13.18359375, 183.603515625, 177.099609375, 32.080078125, 4.04296875, -0.34692108631134033 ]
[ -15.29296875, 187.55859375, 177.451171875, 30.41015625, 5.537109375, 0.36330607533454895 ]
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": 1789,
    "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": {
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            "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": [
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                640,
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            ],
            "names": [
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                "width",
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            "info": {
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                "video.width": 640,
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                "video.codec": "h264",
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                "has_audio": false
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        },
        "observation.images.phone": {
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            "shape": [
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                640,
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
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                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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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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