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wcode
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so100_test

Tasks:
Robotics
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Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
29.8
frame_index
int64
0
746
episode_index
int64
0
1
index
int64
0
1.49k
task_index
int64
0
0
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73
0
[ 23.291015625, 60.205078125, 85.166015625, 45.17578125, -117.0703125, 18.867923736572266 ]
[ 22.8515625, 60.029296875, 85.166015625, 45.791015625, -116.806640625, 18.371606826782227 ]
2.96
74
0
74
0
[ 23.37890625, 60.1171875, 85.166015625, 45.087890625, -117.0703125, 18.371400833129883 ]
[ 22.8515625, 60.029296875, 85.166015625, 45.791015625, -116.806640625, 18.371606826782227 ]
3
75
0
75
0
[ 23.466796875, 59.94140625, 85.166015625, 45.087890625, -117.0703125, 17.775571823120117 ]
[ 22.8515625, 60.029296875, 85.166015625, 45.791015625, -116.71875, 18.371606826782227 ]
3.04
76
0
76
0
[ 23.5546875, 59.94140625, 85.166015625, 45, -117.0703125, 17.477657318115234 ]
[ 22.8515625, 60.029296875, 85.166015625, 45.791015625, -116.71875, 18.23242950439453 ]
3.08
77
0
77
0
[ 23.642578125, 59.853515625, 85.166015625, 45, -117.0703125, 17.37835121154785 ]
[ 22.8515625, 59.853515625, 85.166015625, 45.791015625, -116.71875, 17.745302200317383 ]
3.12
78
0
78
0
[ 23.818359375, 59.765625, 85.166015625, 45, -117.0703125, 17.37835121154785 ]
[ 22.763671875, 59.853515625, 85.166015625, 45.791015625, -116.806640625, 17.536535263061523 ]
3.16
79
0
79
0
[ 23.994140625, 59.58984375, 85.166015625, 44.736328125, -116.982421875, 17.37835121154785 ]
[ 22.763671875, 59.765625, 85.166015625, 45.791015625, -116.806640625, 17.32776641845703 ]
3.2
80
0
80
0
[ 24.345703125, 59.326171875, 85.166015625, 44.6484375, -116.982421875, 17.37835121154785 ]
[ 22.763671875, 59.677734375, 85.166015625, 45.52734375, -116.806640625, 17.32776641845703 ]
3.24
81
0
81
0
[ 24.609375, 58.974609375, 85.166015625, 44.384765625, -116.982421875, 17.37835121154785 ]
[ 22.763671875, 59.4140625, 84.990234375, 45, -116.19140625, 17.32776641845703 ]
3.28
82
0
82
0
[ 24.9609375, 58.7109375, 85.25390625, 44.12109375, -116.982421875, 17.37835121154785 ]
[ 23.115234375, 59.326171875, 84.990234375, 44.736328125, -115.927734375, 17.32776641845703 ]
3.32
83
0
83
0
[ 25.224609375, 58.359375, 85.25390625, 43.9453125, -116.982421875, 17.37835121154785 ]
[ 23.203125, 59.0625, 84.990234375, 44.6484375, -115.927734375, 17.32776641845703 ]
3.36
84
0
84
0
[ 25.400390625, 58.095703125, 85.25390625, 43.76953125, -116.982421875, 16.782522201538086 ]
[ 23.466796875, 59.0625, 84.990234375, 44.208984375, -115.927734375, 17.32776641845703 ]
3.4
85
0
85
0
[ 25.48828125, 58.0078125, 85.25390625, 43.76953125, -116.982421875, 15.193644523620605 ]
[ 23.73046875, 58.88671875, 84.990234375, 43.857421875, -115.927734375, 17.32776641845703 ]
3.44
86
0
86
0
[ 25.48828125, 58.0078125, 85.25390625, 43.76953125, -116.982421875, 13.902681350708008 ]
[ 23.73046875, 58.798828125, 84.990234375, 43.59375, -115.83984375, 16.701461791992188 ]
3.48
87
0
87
0
[ 25.48828125, 58.0078125, 85.25390625, 43.76953125, -116.982421875, 13.00893783569336 ]
[ 23.73046875, 58.798828125, 84.990234375, 43.59375, -115.83984375, 16.00556755065918 ]
3.52
88
0
88
0
[ 25.48828125, 58.0078125, 85.25390625, 43.76953125, -116.89453125, 12.214498519897461 ]
[ 23.73046875, 58.7109375, 84.990234375, 43.505859375, -115.83984375, 14.892136573791504 ]
3.56
89
0
89
0
[ 25.48828125, 58.0078125, 85.25390625, 43.76953125, -116.89453125, 12.015889167785645 ]
[ 23.642578125, 58.623046875, 84.990234375, 43.505859375, -115.83984375, 14.057063102722168 ]
3.6
90
0
90
0
[ 25.48828125, 58.0078125, 85.25390625, 43.76953125, -116.89453125, 11.916584014892578 ]
[ 23.642578125, 58.53515625, 84.90234375, 43.41796875, -115.83984375, 13.291579246520996 ]
3.64
91
0
91
0
[ 25.400390625, 58.0078125, 85.25390625, 43.76953125, -116.89453125, 11.221449851989746 ]
[ 23.642578125, 58.53515625, 84.90234375, 43.41796875, -115.83984375, 12.80445384979248 ]
3.68
92
0
92
0
[ 25.400390625, 58.0078125, 85.25390625, 43.76953125, -116.806640625, 10.427010536193848 ]
[ 23.642578125, 58.447265625, 84.90234375, 43.41796875, -115.83984375, 12.178149223327637 ]
3.72
93
0
93
0
[ 25.3125, 58.0078125, 85.25390625, 43.76953125, -116.806640625, 10.427010536193848 ]
[ 23.642578125, 58.447265625, 84.90234375, 43.41796875, -115.83984375, 11.830202102661133 ]
3.76
94
0
94
0
[ 25.3125, 58.0078125, 85.25390625, 43.76953125, -116.806640625, 10.427010536193848 ]
[ 23.642578125, 58.447265625, 84.90234375, 43.41796875, -115.83984375, 11.551843643188477 ]
3.8
95
0
95
0
[ 25.224609375, 58.0078125, 85.25390625, 43.76953125, -116.806640625, 10.029791831970215 ]
[ 23.642578125, 58.447265625, 84.90234375, 43.41796875, -115.83984375, 11.551843643188477 ]
3.84
96
0
96
0
[ 25.224609375, 58.0078125, 85.341796875, 43.76953125, -116.71875, 9.930486679077148 ]
[ 23.642578125, 58.447265625, 84.90234375, 43.41796875, -115.83984375, 11.551843643188477 ]
3.88
97
0
97
0
[ 25.224609375, 58.095703125, 85.341796875, 43.76953125, -116.71875, 9.930486679077148 ]
[ 23.642578125, 58.447265625, 84.90234375, 43.41796875, -115.83984375, 11.482254981994629 ]
3.92
98
0
98
0
[ 25.13671875, 58.18359375, 85.341796875, 43.76953125, -116.630859375, 9.831181526184082 ]
[ 23.642578125, 58.447265625, 84.90234375, 43.41796875, -115.83984375, 11.273486137390137 ]
3.96
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": 2,
    "total_frames": 1494,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "splits": {
        "train": "0:2"
    },
    "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.hand": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
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            "info": {
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        "observation.images.top": {
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            "names": [
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            ],
            "info": {
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                "video.channels": 3,
                "video.codec": "h264",
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                "video.is_depth_map": false,
                "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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            "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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