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Datasets:
zijian2022
/
assemblyarm2_1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
so100
tutorial
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pandas
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action
sequence
observation.state
sequence
timestamp
float32
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21
frame_index
int64
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629
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index
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int64
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[ 2.724609375, 175.25390625, 168.92578125, 57.041015625, -5.80078125, 0.291332870721817 ]
2.433333
73
0
73
0
[ 3.955078125, 174.55078125, 165.41015625, 55.107421875, -10.8984375, 0.5070993900299072 ]
[ 2.724609375, 174.7265625, 168.57421875, 56.42578125, -5.80078125, 0.291332870721817 ]
2.466667
74
0
74
0
[ 3.955078125, 174.375, 165.234375, 54.404296875, -10.8984375, 0.5070993900299072 ]
[ 2.724609375, 174.375, 168.22265625, 56.162109375, -5.80078125, 0.291332870721817 ]
2.5
75
0
75
0
[ 4.130859375, 174.287109375, 165.146484375, 53.173828125, -10.8984375, 0.5070993900299072 ]
[ 2.724609375, 174.287109375, 168.046875, 55.546875, -5.80078125, 0.291332870721817 ]
2.533333
76
0
76
0
[ 4.130859375, 174.111328125, 165.146484375, 51.6796875, -10.8984375, 0.5070993900299072 ]
[ 2.98828125, 174.111328125, 167.958984375, 54.84375, -5.80078125, 0.291332870721817 ]
2.566667
77
0
77
0
[ 4.306640625, 173.759765625, 165.146484375, 50.44921875, -10.8984375, 1.825557827949524 ]
[ 3.427734375, 174.111328125, 167.958984375, 53.7890625, -5.80078125, 0.291332870721817 ]
2.6
78
0
78
0
[ 4.306640625, 173.232421875, 165.146484375, 49.04296875, -10.8984375, 1.825557827949524 ]
[ 3.603515625, 173.84765625, 167.958984375, 52.20703125, -5.80078125, 0.3641660511493683 ]
2.633333
79
0
79
0
[ 4.306640625, 172.705078125, 165.146484375, 47.98828125, -10.8984375, 1.825557827949524 ]
[ 3.69140625, 173.408203125, 167.958984375, 51.240234375, -5.80078125, 0.509832501411438 ]
2.666667
80
0
80
0
[ 4.306640625, 172.529296875, 165.146484375, 47.28515625, -10.8984375, 3.0425963401794434 ]
[ 3.69140625, 172.79296875, 167.958984375, 50.009765625, -5.80078125, 0.582665741443634 ]
2.7
81
0
81
0
[ 4.21875, 172.44140625, 165.146484375, 46.845703125, -10.986328125, 6.896551609039307 ]
[ 3.603515625, 172.353515625, 167.958984375, 48.8671875, -5.80078125, 1.0924981832504272 ]
2.733333
82
0
82
0
[ 4.04296875, 172.44140625, 165.146484375, 46.7578125, -11.07421875, 8.823529243469238 ]
[ 3.69140625, 172.353515625, 167.958984375, 48.076171875, -5.80078125, 2.621995687484741 ]
2.766667
83
0
83
0
[ 3.8671875, 172.265625, 165.146484375, 46.7578125, -11.07421875, 8.823529243469238 ]
[ 3.69140625, 172.265625, 167.958984375, 47.548828125, -5.80078125, 4.588492393493652 ]
2.8
84
0
84
0
[ 3.779296875, 171.826171875, 164.8828125, 46.669921875, -11.07421875, 8.823529243469238 ]
[ 3.69140625, 172.08984375, 167.958984375, 47.197265625, -5.80078125, 6.117990016937256 ]
2.833333
85
0
85
0
[ 3.779296875, 171.2109375, 164.794921875, 46.0546875, -11.162109375, 11.257606506347656 ]
[ 3.427734375, 171.73828125, 167.783203125, 47.021484375, -5.80078125, 6.773488998413086 ]
2.866667
86
0
86
0
[ 3.779296875, 170.5078125, 164.794921875, 45, -11.337890625, 13.793103218078613 ]
[ 3.251953125, 171.298828125, 167.34375, 47.021484375, -5.80078125, 7.793153762817383 ]
2.9
87
0
87
0
[ 3.955078125, 169.892578125, 164.794921875, 44.296875, -11.337890625, 13.995942115783691 ]
[ 3.076171875, 171.03515625, 167.255859375, 46.669921875, -5.80078125, 9.832483291625977 ]
2.933333
88
0
88
0
[ 4.130859375, 168.92578125, 164.619140625, 43.41796875, -11.162109375, 13.995942115783691 ]
[ 3.076171875, 170.15625, 167.16796875, 45.703125, -5.80078125, 11.361981391906738 ]
2.966667
89
0
89
0
[ 4.482421875, 168.046875, 164.619140625, 42.01171875, -11.07421875, 13.995942115783691 ]
[ 3.251953125, 169.189453125, 167.16796875, 44.912109375, -5.80078125, 12.090312957763672 ]
3
90
0
90
0
[ 4.833984375, 166.904296875, 164.619140625, 40.25390625, -11.07421875, 13.995942115783691 ]
[ 3.515625, 168.57421875, 167.16796875, 44.12109375, -5.80078125, 12.308813095092773 ]
3.033333
91
0
91
0
[ 5.2734375, 165.76171875, 164.619140625, 38.49609375, -11.07421875, 15.618660926818848 ]
[ 3.603515625, 167.783203125, 167.16796875, 42.802734375, -5.80078125, 12.454479217529297 ]
3.066667
92
0
92
0
[ 5.537109375, 164.443359375, 164.619140625, 36.5625, -11.07421875, 18.559837341308594 ]
[ 3.955078125, 166.46484375, 167.16796875, 41.1328125, -5.80078125, 13.109977722167969 ]
3.1
93
0
93
0
[ 5.888671875, 163.388671875, 164.619140625, 34.892578125, -10.986328125, 20.081134796142578 ]
[ 4.306640625, 165.41015625, 167.16796875, 39.55078125, -5.80078125, 14.493809700012207 ]
3.133333
94
0
94
0
[ 6.15234375, 162.421875, 164.619140625, 33.22265625, -10.72265625, 20.791074752807617 ]
[ 4.39453125, 164.443359375, 167.16796875, 37.6171875, -5.80078125, 16.605972290039062 ]
3.166667
95
0
95
0
[ 6.328125, 161.71875, 164.619140625, 31.728515625, -10.634765625, 20.892494201660156 ]
[ 5.009765625, 163.388671875, 167.16796875, 35.947265625, -5.80078125, 18.06263542175293 ]
3.2
96
0
96
0
[ 6.416015625, 160.751953125, 164.619140625, 30.05859375, -10.634765625, 21.298173904418945 ]
[ 5.361328125, 162.333984375, 167.16796875, 34.541015625, -5.80078125, 18.790969848632812 ]
3.233333
97
0
97
0
[ 6.50390625, 159.9609375, 164.619140625, 28.65234375, -10.634765625, 23.12373161315918 ]
[ 5.44921875, 161.3671875, 167.16796875, 32.87109375, -5.80078125, 19.51930046081543 ]
3.266667
98
0
98
0
[ 6.591796875, 159.169921875, 164.794921875, 27.24609375, -10.634765625, 23.22515296936035 ]
[ 5.625, 160.6640625, 167.16796875, 31.9921875, -5.80078125, 20.101966857910156 ]
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": 630,
    "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": [
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            "names": [
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            "info": {
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                "video.codec": "av1",
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        "observation.images.phone": {
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            "names": [
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            "info": {
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                "video.codec": "av1",
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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