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Datasets:
zijian2022
/
assemblyarm2_01

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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pandas
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action
sequence
observation.state
sequence
timestamp
float32
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35.1
frame_index
int64
0
1.05k
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int64
0
0
index
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1.05k
task_index
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[ 0.615234375, 187.998046875, 174.638671875, 74.619140625, -13.447265625, 0.454132616519928 ]
2.433333
73
0
73
0
[ 0.3515625, 189.66796875, 174.90234375, 75.146484375, -8.61328125, -0.6071118712425232 ]
[ 0.615234375, 187.998046875, 174.638671875, 74.70703125, -11.337890625, 0.454132616519928 ]
2.466667
74
0
74
0
[ 0.3515625, 189.66796875, 174.90234375, 75.146484375, -8.61328125, -0.6071118712425232 ]
[ 0.615234375, 187.998046875, 174.638671875, 74.70703125, -10.107421875, 0.454132616519928 ]
2.5
75
0
75
0
[ 0.3515625, 189.66796875, 174.90234375, 75.05859375, -8.61328125, -0.6071118712425232 ]
[ 0.615234375, 187.998046875, 174.638671875, 74.70703125, -9.4921875, 0.454132616519928 ]
2.533333
76
0
76
0
[ 0.439453125, 189.66796875, 174.90234375, 75.05859375, -8.61328125, -0.6071118712425232 ]
[ 0.615234375, 187.998046875, 174.638671875, 74.70703125, -8.96484375, 0.454132616519928 ]
2.566667
77
0
77
0
[ 0.439453125, 189.66796875, 174.90234375, 75.05859375, -8.173828125, -0.6071118712425232 ]
[ 0.615234375, 187.998046875, 174.638671875, 74.70703125, -8.701171875, 0.454132616519928 ]
2.6
78
0
78
0
[ 0.52734375, 189.66796875, 174.90234375, 75.05859375, -4.833984375, -0.6071118712425232 ]
[ 0.615234375, 187.998046875, 174.638671875, 74.70703125, -8.4375, 0.454132616519928 ]
2.633333
79
0
79
0
[ 1.23046875, 189.66796875, 174.90234375, 74.091796875, -4.306640625, -0.6071118712425232 ]
[ 0.615234375, 187.998046875, 174.638671875, 74.70703125, -7.294921875, 0.454132616519928 ]
2.666667
80
0
80
0
[ 1.58203125, 189.66796875, 174.90234375, 72.94921875, -3.33984375, -0.6071118712425232 ]
[ 0.615234375, 187.998046875, 174.638671875, 74.70703125, -5.537109375, 0.454132616519928 ]
2.7
81
0
81
0
[ 1.845703125, 189.580078125, 174.90234375, 71.89453125, -2.548828125, -0.6071118712425232 ]
[ 0.703125, 187.998046875, 174.638671875, 74.267578125, -4.833984375, 0.454132616519928 ]
2.733333
82
0
82
0
[ 1.845703125, 189.580078125, 174.90234375, 70.83984375, -2.4609375, -0.6071118712425232 ]
[ 0.703125, 187.998046875, 174.638671875, 73.30078125, -3.69140625, 0.454132616519928 ]
2.766667
83
0
83
0
[ 1.845703125, 189.4921875, 174.90234375, 69.9609375, -2.021484375, -0.6071118712425232 ]
[ 0.791015625, 187.998046875, 174.638671875, 72.421875, -2.98828125, 0.454132616519928 ]
2.8
84
0
84
0
[ 1.93359375, 189.4921875, 174.90234375, 68.994140625, -1.494140625, -0.6071118712425232 ]
[ 0.791015625, 187.998046875, 174.638671875, 71.630859375, -2.724609375, 0.454132616519928 ]
2.833333
85
0
85
0
[ 2.021484375, 189.31640625, 174.90234375, 67.763671875, -1.23046875, -0.6071118712425232 ]
[ 0.791015625, 187.998046875, 174.638671875, 70.6640625, -2.109375, 0.454132616519928 ]
2.866667
86
0
86
0
[ 2.109375, 188.876953125, 174.90234375, 66.26953125, -1.23046875, -0.6071118712425232 ]
[ 0.791015625, 187.998046875, 174.638671875, 69.697265625, -1.7578125, 0.454132616519928 ]
2.9
87
0
87
0
[ 2.373046875, 188.61328125, 174.814453125, 64.775390625, -1.23046875, -0.6071118712425232 ]
[ 1.142578125, 187.91015625, 174.638671875, 68.818359375, -1.494140625, 0.454132616519928 ]
2.933333
88
0
88
0
[ 2.724609375, 187.91015625, 174.814453125, 62.9296875, -1.23046875, -0.6071118712425232 ]
[ 1.40625, 187.91015625, 174.638671875, 67.5, -1.318359375, 0.454132616519928 ]
2.966667
89
0
89
0
[ 3.1640625, 187.20703125, 174.814453125, 60.908203125, -0.615234375, -0.6071118712425232 ]
[ 1.40625, 187.91015625, 174.638671875, 65.7421875, -1.23046875, 0.454132616519928 ]
3
90
0
90
0
[ 3.69140625, 186.328125, 174.7265625, 58.88671875, -0.17578125, -0.6071118712425232 ]
[ 1.494140625, 187.91015625, 174.638671875, 64.072265625, -0.966796875, 0.454132616519928 ]
3.033333
91
0
91
0
[ 4.130859375, 185.44921875, 174.638671875, 56.865234375, 0.263671875, -0.6071118712425232 ]
[ 1.93359375, 187.91015625, 174.638671875, 62.2265625, -0.52734375, 0.454132616519928 ]
3.066667
92
0
92
0
[ 4.5703125, 184.482421875, 174.55078125, 54.4921875, 0.439453125, -0.6071118712425232 ]
[ 2.63671875, 187.91015625, 174.638671875, 60.205078125, -0.439453125, 0.454132616519928 ]
3.1
93
0
93
0
[ 5.009765625, 183.515625, 174.287109375, 52.646484375, 0.87890625, -0.6071118712425232 ]
[ 3.1640625, 187.734375, 174.638671875, 58.271484375, -0.263671875, 0.454132616519928 ]
3.133333
94
0
94
0
[ 5.361328125, 182.63671875, 174.111328125, 50.712890625, 1.318359375, -0.6071118712425232 ]
[ 3.515625, 186.85546875, 174.638671875, 56.337890625, -0.17578125, 0.454132616519928 ]
3.166667
95
0
95
0
[ 5.712890625, 181.7578125, 173.759765625, 48.603515625, 1.318359375, -0.6071118712425232 ]
[ 3.955078125, 185.80078125, 174.638671875, 54.140625, 0.17578125, 0.454132616519928 ]
3.2
96
0
96
0
[ 5.9765625, 180.966796875, 173.671875, 46.494140625, 1.318359375, -0.6071118712425232 ]
[ 4.39453125, 184.658203125, 174.638671875, 52.119140625, 0.52734375, 0.454132616519928 ]
3.233333
97
0
97
0
[ 6.15234375, 180, 173.408203125, 44.12109375, 1.318359375, -0.6071118712425232 ]
[ 4.5703125, 183.69140625, 174.638671875, 50.44921875, 0.615234375, 0.454132616519928 ]
3.266667
98
0
98
0
[ 6.240234375, 179.033203125, 172.96875, 42.275390625, 1.318359375, -0.6071118712425232 ]
[ 4.5703125, 182.724609375, 174.638671875, 48.251953125, 0.615234375, 0.454132616519928 ]
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": 1054,
    "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"
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            "info": {
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                "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.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "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": [
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            ],
            "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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