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Datasets:
zijian2022
/
assemblyarm2_2

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
0
29.8
frame_index
int64
0
895
episode_index
int64
0
0
index
int64
0
895
task_index
int64
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[ -1.845703125, 156.796875, 146.162109375, 62.666015625, -25.048828125, 3.752535581588745 ]
[ -1.93359375, 159.873046875, 149.4140625, 62.666015625, -5.888671875, 1.165331482887268 ]
2.366667
71
0
71
0
[ -1.58203125, 155.830078125, 146.162109375, 62.490234375, -24.9609375, 3.752535581588745 ]
[ -1.58203125, 158.642578125, 149.23828125, 62.578125, -5.888671875, 2.1121633052825928 ]
2.4
72
0
72
0
[ -1.318359375, 155.126953125, 146.162109375, 62.314453125, -24.43359375, 3.752535581588745 ]
[ -1.40625, 157.412109375, 149.150390625, 62.578125, -5.888671875, 2.403496026992798 ]
2.433333
73
0
73
0
[ -0.966796875, 154.599609375, 146.337890625, 61.875, -24.169921875, 3.752535581588745 ]
[ -1.40625, 156.26953125, 149.150390625, 62.578125, -5.888671875, 2.4763290882110596 ]
2.466667
74
0
74
0
[ -0.615234375, 153.720703125, 146.42578125, 61.435546875, -24.169921875, 3.752535581588745 ]
[ -1.142578125, 155.56640625, 149.150390625, 62.314453125, -5.888671875, 2.5491623878479004 ]
2.5
75
0
75
0
[ -0.17578125, 152.75390625, 146.42578125, 60.908203125, -24.08203125, 3.752535581588745 ]
[ -0.703125, 154.86328125, 149.150390625, 61.962890625, -5.888671875, 2.5491623878479004 ]
2.533333
76
0
76
0
[ 0.17578125, 151.875, 146.42578125, 60.1171875, -23.994140625, 3.752535581588745 ]
[ -0.439453125, 153.896484375, 149.0625, 61.435546875, -5.888671875, 2.5491623878479004 ]
2.566667
77
0
77
0
[ 0.615234375, 151.083984375, 146.42578125, 59.4140625, -23.994140625, 3.752535581588745 ]
[ -0.3515625, 152.9296875, 149.0625, 61.083984375, -5.888671875, 2.5491623878479004 ]
2.6
78
0
78
0
[ 1.0546875, 150.1171875, 146.42578125, 58.447265625, -23.818359375, 3.752535581588745 ]
[ -0.3515625, 152.138671875, 149.0625, 60.64453125, -5.888671875, 2.5491623878479004 ]
2.633333
79
0
79
0
[ 1.40625, 149.501953125, 146.42578125, 57.568359375, -23.466796875, 3.752535581588745 ]
[ -0.087890625, 151.5234375, 149.0625, 59.853515625, -5.888671875, 2.5491623878479004 ]
2.666667
80
0
80
0
[ 1.7578125, 148.974609375, 146.42578125, 56.6015625, -23.466796875, 3.752535581588745 ]
[ 0.3515625, 150.8203125, 149.0625, 58.88671875, -5.888671875, 2.5491623878479004 ]
2.7
81
0
81
0
[ 2.109375, 147.65625, 146.162109375, 56.07421875, -23.291015625, 3.752535581588745 ]
[ 0.52734375, 149.853515625, 148.974609375, 58.095703125, -5.888671875, 2.5491623878479004 ]
2.733333
82
0
82
0
[ 2.373046875, 146.337890625, 145.72265625, 55.72265625, -23.115234375, 3.651115655899048 ]
[ 0.615234375, 148.974609375, 148.974609375, 57.48046875, -5.888671875, 2.5491623878479004 ]
2.766667
83
0
83
0
[ 2.63671875, 145.546875, 145.458984375, 54.931640625, -23.02734375, 3.5496957302093506 ]
[ 0.791015625, 148.359375, 148.798828125, 56.865234375, -5.888671875, 2.5491623878479004 ]
2.8
84
0
84
0
[ 2.900390625, 145.283203125, 145.458984375, 53.7890625, -23.02734375, 3.5496957302093506 ]
[ 1.318359375, 147.3046875, 148.447265625, 55.986328125, -5.888671875, 2.5491623878479004 ]
2.833333
85
0
85
0
[ 3.1640625, 144.84375, 145.37109375, 53.173828125, -22.67578125, 3.5496957302093506 ]
[ 1.494140625, 146.162109375, 148.095703125, 55.107421875, -5.888671875, 2.5491623878479004 ]
2.866667
86
0
86
0
[ 3.427734375, 144.404296875, 145.283203125, 52.734375, -22.5, 3.5496957302093506 ]
[ 1.845703125, 145.458984375, 147.919921875, 54.404296875, -5.888671875, 2.5491623878479004 ]
2.9
87
0
87
0
[ 3.603515625, 143.96484375, 145.1953125, 52.03125, -22.32421875, 3.5496957302093506 ]
[ 2.28515625, 144.755859375, 147.919921875, 53.7890625, -5.888671875, 2.5491623878479004 ]
2.933333
88
0
88
0
[ 3.955078125, 143.525390625, 145.1953125, 51.064453125, -22.1484375, 3.5496957302093506 ]
[ 2.4609375, 144.228515625, 147.919921875, 53.26171875, -5.888671875, 2.5491623878479004 ]
2.966667
89
0
89
0
[ 4.21875, 142.734375, 145.1953125, 50.009765625, -21.884765625, 3.5496957302093506 ]
[ 2.548828125, 143.701171875, 147.919921875, 52.646484375, -5.888671875, 2.5491623878479004 ]
3
90
0
90
0
[ 4.5703125, 142.03125, 145.37109375, 48.955078125, -21.533203125, 3.5496957302093506 ]
[ 2.900390625, 143.0859375, 147.919921875, 51.85546875, -5.888671875, 2.5491623878479004 ]
3.033333
91
0
91
0
[ 4.833984375, 141.240234375, 145.458984375, 47.8125, -21.357421875, 3.5496957302093506 ]
[ 3.33984375, 142.55859375, 147.919921875, 50.712890625, -5.888671875, 2.5491623878479004 ]
3.066667
92
0
92
0
[ 5.185546875, 140.44921875, 145.458984375, 46.669921875, -20.830078125, 3.5496957302093506 ]
[ 3.427734375, 142.119140625, 147.919921875, 49.39453125, -5.888671875, 2.5491623878479004 ]
3.1
93
0
93
0
[ 5.537109375, 139.658203125, 145.634765625, 45.17578125, -20.21484375, 3.5496957302093506 ]
[ 3.8671875, 141.416015625, 147.919921875, 48.251953125, -5.888671875, 2.5491623878479004 ]
3.133333
94
0
94
0
[ 5.9765625, 139.39453125, 145.810546875, 43.681640625, -19.6875, 3.5496957302093506 ]
[ 4.306640625, 140.537109375, 147.919921875, 47.28515625, -5.888671875, 2.5491623878479004 ]
3.166667
95
0
95
0
[ 6.328125, 139.130859375, 145.8984375, 42.626953125, -19.16015625, 3.5496957302093506 ]
[ 4.482421875, 139.658203125, 147.919921875, 46.0546875, -5.888671875, 2.5491623878479004 ]
3.2
96
0
96
0
[ 6.591796875, 139.04296875, 146.337890625, 41.748046875, -18.193359375, 3.5496957302093506 ]
[ 4.921875, 139.306640625, 147.919921875, 44.47265625, -5.888671875, 2.5491623878479004 ]
3.233333
97
0
97
0
[ 6.85546875, 139.04296875, 147.48046875, 40.166015625, -17.314453125, 3.5496957302093506 ]
[ 5.361328125, 139.21875, 147.919921875, 43.505859375, -5.888671875, 2.5491623878479004 ]
3.266667
98
0
98
0
[ 7.119140625, 139.04296875, 148.095703125, 39.375, -16.435546875, 3.5496957302093506 ]
[ 5.537109375, 139.130859375, 148.095703125, 42.451171875, -5.888671875, 2.5491623878479004 ]
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": 896,
    "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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            "names": [
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        "observation.images.phone": {
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            "names": [
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            ],
            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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