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Datasets:
kkurzweil
/
so100_wrist_03

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
11.1
frame_index
int64
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333
episode_index
int64
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100
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int64
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16.7k
task_index
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76
0
[ 4.658203125, 75.76171875, 98.701171875, 34.365234375, -93.515625, 12.715712547302246 ]
[ 5.361328125, 73.916015625, 99.580078125, 35.419921875, -93.603515625, 19.5941219329834 ]
2.566667
77
0
77
0
[ 4.482421875, 75.76171875, 99.228515625, 34.365234375, -93.427734375, 8.719346046447754 ]
[ 5.361328125, 73.828125, 99.66796875, 35.33203125, -93.603515625, 18.124563217163086 ]
2.6
78
0
78
0
[ 4.306640625, 75.76171875, 99.755859375, 34.189453125, -93.33984375, 5.3587646484375 ]
[ 5.2734375, 73.828125, 99.66796875, 35.33203125, -93.603515625, 15.95521354675293 ]
2.633333
79
0
79
0
[ 4.21875, 75.76171875, 100.01953125, 34.27734375, -93.251953125, 4.54132604598999 ]
[ 5.2734375, 73.828125, 99.84375, 35.244140625, -93.603515625, 13.016095161437988 ]
2.666667
80
0
80
0
[ 4.04296875, 75.76171875, 100.1953125, 34.62890625, -93.33984375, 4.26884651184082 ]
[ 5.185546875, 73.916015625, 100.1953125, 35.244140625, -93.603515625, 10.846746444702148 ]
2.7
81
0
81
0
[ 3.955078125, 75.849609375, 100.283203125, 34.98046875, -93.427734375, 2.543142557144165 ]
[ 5.09765625, 73.916015625, 100.37109375, 35.244140625, -93.603515625, 10.286913871765137 ]
2.733333
82
0
82
0
[ 3.8671875, 75.9375, 100.283203125, 35.419921875, -93.251953125, 0.454132616519928 ]
[ 4.921875, 73.916015625, 100.37109375, 35.244140625, -93.515625, 10.286913871765137 ]
2.766667
83
0
83
0
[ 3.779296875, 76.11328125, 100.1953125, 35.859375, -92.900390625, 0.09082651883363724 ]
[ 4.74609375, 73.916015625, 100.458984375, 35.244140625, -93.427734375, 10.076976776123047 ]
2.8
84
0
84
0
[ 3.779296875, 76.376953125, 99.755859375, 36.826171875, -92.548828125, 0.09082651883363724 ]
[ 4.658203125, 73.916015625, 100.546875, 35.244140625, -93.515625, 10.006998062133789 ]
2.833333
85
0
85
0
[ 3.779296875, 76.81640625, 98.7890625, 38.056640625, -92.021484375, 0.09082651883363724 ]
[ 4.5703125, 74.00390625, 100.546875, 35.244140625, -93.515625, 10.006998062133789 ]
2.866667
86
0
86
0
[ 3.8671875, 77.51953125, 97.646484375, 39.111328125, -91.494140625, 0.09082651883363724 ]
[ 4.5703125, 74.00390625, 100.546875, 35.33203125, -93.33984375, 10.006998062133789 ]
2.9
87
0
87
0
[ 4.21875, 78.310546875, 96.15234375, 40.166015625, -91.0546875, 0.09082651883363724 ]
[ 4.5703125, 74.00390625, 100.458984375, 36.298828125, -92.900390625, 10.006998062133789 ]
2.933333
88
0
88
0
[ 4.658203125, 79.27734375, 94.306640625, 41.220703125, -90.791015625, 0.09082651883363724 ]
[ 4.5703125, 74.091796875, 100.107421875, 37.265625, -92.373046875, 10.006998062133789 ]
2.966667
89
0
89
0
[ 5.2734375, 80.5078125, 92.4609375, 42.36328125, -90.703125, 0.09082651883363724 ]
[ 4.5703125, 74.091796875, 99.580078125, 38.3203125, -92.021484375, 10.006998062133789 ]
3
90
0
90
0
[ 5.888671875, 82.08984375, 90.615234375, 43.681640625, -90.703125, 0 ]
[ 4.5703125, 74.091796875, 98.61328125, 40.078125, -91.669921875, 10.006998062133789 ]
3.033333
91
0
91
0
[ 6.6796875, 83.935546875, 88.9453125, 45.17578125, -90.87890625, 0 ]
[ 4.5703125, 74.1796875, 97.91015625, 41.220703125, -91.40625, 10.006998062133789 ]
3.066667
92
0
92
0
[ 7.734375, 85.95703125, 87.36328125, 46.669921875, -91.142578125, 0 ]
[ 4.5703125, 74.619140625, 97.03125, 42.275390625, -91.318359375, 10.006998062133789 ]
3.1
93
0
93
0
[ 9.052734375, 87.890625, 85.78125, 48.33984375, -91.40625, 0 ]
[ 5.009765625, 75.498046875, 95.9765625, 43.505859375, -91.23046875, 10.006998062133789 ]
3.133333
94
0
94
0
[ 10.634765625, 90, 84.990234375, 49.658203125, -91.7578125, 0 ]
[ 5.537109375, 76.640625, 94.921875, 44.912109375, -91.23046875, 10.006998062133789 ]
3.166667
95
0
95
0
[ 12.216796875, 92.4609375, 84.990234375, 50.625, -92.109375, 0 ]
[ 6.328125, 78.134765625, 93.603515625, 46.318359375, -91.23046875, 10.006998062133789 ]
3.2
96
0
96
0
[ 13.88671875, 94.833984375, 85.166015625, 51.943359375, -92.900390625, 0 ]
[ 7.3828125, 79.8046875, 92.373046875, 47.63671875, -91.23046875, 10.006998062133789 ]
3.233333
97
0
97
0
[ 15.908203125, 97.20703125, 85.341796875, 52.998046875, -93.427734375, -0.09082651883363724 ]
[ 8.61328125, 81.826171875, 91.494140625, 48.8671875, -91.23046875, 10.006998062133789 ]
3.266667
98
0
98
0
[ 18.369140625, 99.228515625, 85.517578125, 53.876953125, -93.427734375, -0.09082651883363724 ]
[ 10.01953125, 84.19921875, 90.966796875, 50.09765625, -91.58203125, 10.006998062133789 ]
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": 101,
    "total_frames": 16654,
    "total_tasks": 1,
    "total_videos": 202,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:101"
    },
    "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.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "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",
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                1
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            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
16,654