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Datasets:
jiroh2000
/
so100_test_a001

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
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parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
0
596
episode_index
int64
0
29
index
int64
0
17.9k
task_index
int64
0
0
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[ 5.185546875, 181.494140625, 167.87109375, 76.552734375, -3.33984375, 0 ]
2.5
75
0
75
0
[ 4.833984375, 180.966796875, 166.025390625, 75.9375, -3.603515625, -0.36496350169181824 ]
[ 5.09765625, 181.669921875, 167.87109375, 76.552734375, -3.33984375, 0 ]
2.533333
76
0
76
0
[ 4.833984375, 180.966796875, 166.201171875, 75.9375, -3.603515625, -0.36496350169181824 ]
[ 5.009765625, 181.669921875, 167.87109375, 76.552734375, -3.33984375, 0 ]
2.566667
77
0
77
0
[ 4.658203125, 180.966796875, 166.46484375, 75.9375, -3.603515625, -0.36496350169181824 ]
[ 5.009765625, 181.40625, 167.87109375, 76.552734375, -3.33984375, 0 ]
2.6
78
0
78
0
[ 4.5703125, 180.966796875, 166.46484375, 75.9375, -3.603515625, -0.36496350169181824 ]
[ 4.921875, 181.318359375, 167.87109375, 76.552734375, -3.33984375, 0 ]
2.633333
79
0
79
0
[ 4.5703125, 180.87890625, 166.11328125, 75.9375, -3.603515625, -0.36496350169181824 ]
[ 4.921875, 181.318359375, 167.87109375, 76.552734375, -3.33984375, 0 ]
2.666667
80
0
80
0
[ 4.5703125, 180.439453125, 165.849609375, 75.9375, -3.603515625, -0.36496350169181824 ]
[ 4.921875, 181.318359375, 167.783203125, 76.552734375, -3.33984375, 0 ]
2.7
81
0
81
0
[ 4.5703125, 180.263671875, 165.76171875, 75.9375, -3.603515625, -0.36496350169181824 ]
[ 4.921875, 181.318359375, 167.783203125, 76.552734375, -3.33984375, 0 ]
2.733333
82
0
82
0
[ 4.658203125, 180.17578125, 165.5859375, 75.9375, -3.603515625, -0.36496350169181824 ]
[ 4.921875, 181.0546875, 167.783203125, 76.552734375, -3.33984375, 0 ]
2.766667
83
0
83
0
[ 4.833984375, 180.087890625, 164.970703125, 75.9375, -3.69140625, -0.36496350169181824 ]
[ 4.921875, 180.703125, 167.783203125, 76.552734375, -3.33984375, 0 ]
2.8
84
0
84
0
[ 5.009765625, 180.087890625, 164.267578125, 76.11328125, -3.69140625, -0.36496350169181824 ]
[ 4.921875, 180.439453125, 167.6953125, 76.552734375, -3.33984375, 0 ]
2.833333
85
0
85
0
[ 5.009765625, 180, 163.65234375, 76.376953125, -3.69140625, -0.36496350169181824 ]
[ 4.921875, 180.263671875, 167.255859375, 76.552734375, -3.33984375, 0 ]
2.866667
86
0
86
0
[ 5.009765625, 180, 163.125, 76.552734375, -3.69140625, -0.36496350169181824 ]
[ 4.921875, 180.087890625, 166.640625, 76.552734375, -3.33984375, 0 ]
2.9
87
0
87
0
[ 5.009765625, 180, 162.7734375, 76.552734375, -3.69140625, -0.36496350169181824 ]
[ 4.921875, 180.17578125, 166.025390625, 76.552734375, -3.33984375, 0 ]
2.933333
88
0
88
0
[ 5.009765625, 180, 162.685546875, 76.552734375, -3.69140625, -0.36496350169181824 ]
[ 4.921875, 180.263671875, 165.498046875, 76.552734375, -3.33984375, 0 ]
2.966667
89
0
89
0
[ 5.09765625, 180, 162.59765625, 76.46484375, -3.69140625, -0.36496350169181824 ]
[ 4.921875, 180.439453125, 165.05859375, 76.552734375, -3.33984375, 0 ]
3
90
0
90
0
[ 5.09765625, 179.912109375, 162.509765625, 76.201171875, -3.69140625, -0.36496350169181824 ]
[ 4.921875, 180.52734375, 164.794921875, 76.552734375, -3.33984375, 0 ]
3.033333
91
0
91
0
[ 5.009765625, 179.82421875, 161.89453125, 76.025390625, -3.69140625, -0.36496350169181824 ]
[ 4.921875, 180.3515625, 164.619140625, 76.552734375, -3.33984375, 0 ]
3.066667
92
0
92
0
[ 5.009765625, 179.47265625, 161.19140625, 76.025390625, -3.69140625, -0.36496350169181824 ]
[ 4.921875, 180.263671875, 164.619140625, 76.552734375, -3.33984375, 0 ]
3.1
93
0
93
0
[ 5.009765625, 178.505859375, 160.3125, 76.025390625, -3.69140625, -0.36496350169181824 ]
[ 4.921875, 180.087890625, 164.267578125, 76.552734375, -3.33984375, 0 ]
3.133333
94
0
94
0
[ 5.009765625, 176.748046875, 159.169921875, 76.025390625, -3.69140625, -0.36496350169181824 ]
[ 4.921875, 179.736328125, 163.65234375, 76.552734375, -3.33984375, 0 ]
3.166667
95
0
95
0
[ 5.009765625, 174.287109375, 157.763671875, 76.2890625, -3.69140625, -0.36496350169181824 ]
[ 4.921875, 179.384765625, 162.7734375, 76.552734375, -3.33984375, 0 ]
3.2
96
0
96
0
[ 5.009765625, 171.2109375, 156.005859375, 76.552734375, -3.69140625, -0.36496350169181824 ]
[ 4.921875, 178.2421875, 161.806640625, 76.552734375, -3.33984375, 0 ]
3.233333
97
0
97
0
[ 5.009765625, 167.6953125, 153.80859375, 76.904296875, -3.69140625, -0.36496350169181824 ]
[ 4.921875, 176.484375, 160.6640625, 76.552734375, -3.33984375, 0 ]
3.266667
98
0
98
0
[ 4.921875, 164.00390625, 151.171875, 77.783203125, -3.69140625, -0.36496350169181824 ]
[ 4.921875, 174.19921875, 159.2578125, 76.640625, -3.33984375, 0 ]
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": 15,
    "total_frames": 8955,
    "total_tasks": 1,
    "total_videos": 15,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:15"
    },
    "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": [
                6
            ],
            "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.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "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",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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