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acrampette
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so100test_05

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Robotics
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1K - 10K
Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
0
597
episode_index
int64
0
9
index
int64
0
5.97k
task_index
int64
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0
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[ -3.251953125, 189.755859375, 167.958984375, 70.6640625, 87.5390625, -0.7543103694915771 ]
[ -2.109375, 188.26171875, 169.453125, 70.927734375, 87.1875, 0.35573121905326843 ]
2.366667
71
0
71
0
[ -3.251953125, 189.755859375, 167.607421875, 70.6640625, 87.890625, -0.7543103694915771 ]
[ -2.373046875, 188.26171875, 169.453125, 70.927734375, 87.099609375, 0.35573121905326843 ]
2.4
72
0
72
0
[ -3.251953125, 189.755859375, 167.255859375, 70.6640625, 87.978515625, -0.7543103694915771 ]
[ -2.548828125, 188.26171875, 169.453125, 70.927734375, 87.1875, 0.35573121905326843 ]
2.433333
73
0
73
0
[ -3.251953125, 189.755859375, 167.16796875, 70.576171875, 88.06640625, -0.7543103694915771 ]
[ -2.548828125, 188.26171875, 169.453125, 70.927734375, 87.1875, 0.35573121905326843 ]
2.466667
74
0
74
0
[ -3.33984375, 189.84375, 166.728515625, 70.3125, 88.06640625, -0.7543103694915771 ]
[ -2.548828125, 188.26171875, 169.453125, 70.927734375, 87.1875, 0.35573121905326843 ]
2.5
75
0
75
0
[ -3.33984375, 189.84375, 165.9375, 69.521484375, 88.06640625, -0.7543103694915771 ]
[ -2.548828125, 188.26171875, 169.453125, 70.927734375, 87.5390625, 0.35573121905326843 ]
2.533333
76
0
76
0
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[ -2.63671875, 188.26171875, 169.453125, 70.927734375, 87.626953125, 0.35573121905326843 ]
2.566667
77
0
77
0
[ -3.33984375, 189.84375, 164.267578125, 67.32421875, 88.06640625, -0.7543103694915771 ]
[ -2.63671875, 188.26171875, 169.189453125, 70.576171875, 87.71484375, 0.35573121905326843 ]
2.6
78
0
78
0
[ -3.33984375, 189.755859375, 164.1796875, 66.26953125, 88.06640625, -0.7543103694915771 ]
[ -2.63671875, 188.26171875, 169.013671875, 69.697265625, 87.71484375, 0.35573121905326843 ]
2.633333
79
0
79
0
[ -3.33984375, 189.755859375, 164.1796875, 65.654296875, 87.978515625, -0.7543103694915771 ]
[ -2.63671875, 188.26171875, 168.486328125, 68.90625, 87.71484375, 0.35573121905326843 ]
2.666667
80
0
80
0
[ -3.33984375, 189.755859375, 164.70703125, 65.0390625, 87.978515625, -0.7543103694915771 ]
[ -2.63671875, 188.26171875, 168.134765625, 68.02734375, 87.71484375, 0.35573121905326843 ]
2.7
81
0
81
0
[ -3.33984375, 189.755859375, 165.5859375, 64.072265625, 87.978515625, -0.7543103694915771 ]
[ -2.63671875, 188.26171875, 167.87109375, 67.1484375, 87.451171875, 0.35573121905326843 ]
2.733333
82
0
82
0
[ -3.427734375, 189.755859375, 166.552734375, 63.544921875, 88.06640625, -0.7543103694915771 ]
[ -2.63671875, 188.26171875, 167.783203125, 66.708984375, 87.36328125, 0.35573121905326843 ]
2.766667
83
0
83
0
[ -3.427734375, 189.755859375, 167.607421875, 62.9296875, 88.06640625, -0.7543103694915771 ]
[ -2.63671875, 188.26171875, 167.783203125, 65.91796875, 87.275390625, 0.35573121905326843 ]
2.8
84
0
84
0
[ -3.427734375, 189.755859375, 168.046875, 62.666015625, 88.06640625, -0.7543103694915771 ]
[ -2.63671875, 188.26171875, 167.87109375, 65.0390625, 87.5390625, 0.35573121905326843 ]
2.833333
85
0
85
0
[ -3.427734375, 189.755859375, 168.134765625, 62.490234375, 88.06640625, -0.7543103694915771 ]
[ -2.63671875, 188.26171875, 167.958984375, 64.16015625, 87.71484375, 0.35573121905326843 ]
2.866667
86
0
86
0
[ -3.69140625, 189.755859375, 168.046875, 62.490234375, 88.06640625, -0.7543103694915771 ]
[ -2.63671875, 188.525390625, 168.57421875, 63.6328125, 87.802734375, 0.35573121905326843 ]
2.9
87
0
87
0
[ -3.955078125, 189.755859375, 168.046875, 62.490234375, 88.06640625, -0.7543103694915771 ]
[ -2.724609375, 188.349609375, 168.837890625, 63.544921875, 87.802734375, 0.35573121905326843 ]
2.933333
88
0
88
0
[ -4.130859375, 189.66796875, 168.046875, 62.490234375, 88.06640625, -0.7543103694915771 ]
[ -2.63671875, 188.349609375, 168.92578125, 63.544921875, 87.802734375, 0.35573121905326843 ]
2.966667
89
0
89
0
[ -4.39453125, 189.66796875, 167.958984375, 62.05078125, 88.06640625, -0.7543103694915771 ]
[ -2.63671875, 188.4375, 168.92578125, 63.369140625, 87.802734375, 0.35573121905326843 ]
3
90
0
90
0
[ -4.39453125, 189.66796875, 167.958984375, 61.962890625, 88.06640625, -0.7543103694915771 ]
[ -3.1640625, 188.4375, 168.92578125, 63.193359375, 87.71484375, 0.35573121905326843 ]
3.033333
91
0
91
0
[ -4.39453125, 189.66796875, 167.958984375, 61.962890625, 88.06640625, -0.7543103694915771 ]
[ -3.603515625, 188.4375, 169.013671875, 63.193359375, 87.71484375, 0.35573121905326843 ]
3.066667
92
0
92
0
[ -4.39453125, 189.66796875, 167.958984375, 61.962890625, 88.06640625, -0.7543103694915771 ]
[ -3.779296875, 188.4375, 169.013671875, 62.841796875, 87.71484375, 0.35573121905326843 ]
3.1
93
0
93
0
[ -4.39453125, 189.66796875, 167.958984375, 61.962890625, 88.06640625, -0.7543103694915771 ]
[ -3.779296875, 188.4375, 168.92578125, 62.578125, 87.71484375, 0.35573121905326843 ]
3.133333
94
0
94
0
[ -4.39453125, 189.66796875, 167.958984375, 61.962890625, 88.06640625, -0.7543103694915771 ]
[ -3.69140625, 188.4375, 168.92578125, 62.40234375, 87.802734375, 0.35573121905326843 ]
3.166667
95
0
95
0
[ -4.306640625, 189.66796875, 167.958984375, 61.962890625, 88.06640625, -0.7543103694915771 ]
[ -3.69140625, 188.4375, 169.013671875, 62.314453125, 87.802734375, 0.35573121905326843 ]
3.2
96
0
96
0
[ -4.306640625, 189.66796875, 167.958984375, 62.138671875, 88.06640625, -0.7543103694915771 ]
[ -3.69140625, 188.4375, 169.013671875, 62.314453125, 87.802734375, 0.35573121905326843 ]
3.233333
97
0
97
0
[ -4.306640625, 189.66796875, 167.958984375, 62.314453125, 88.06640625, -0.7543103694915771 ]
[ -3.69140625, 188.4375, 169.013671875, 62.314453125, 87.802734375, 0.35573121905326843 ]
3.266667
98
0
98
0
[ -4.306640625, 189.66796875, 167.958984375, 62.314453125, 88.06640625, -0.7543103694915771 ]
[ -3.69140625, 188.4375, 169.013671875, 62.40234375, 87.802734375, 0.35573121905326843 ]
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": 5,
    "total_frames": 2986,
    "total_tasks": 1,
    "total_videos": 5,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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