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Datasets:
Zak-Y
/
so100_three_cameras_dataset

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
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15.9
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int64
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478
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[ -2.724609375, 187.3828125, 179.12109375, 75.41015625, -92.28515625, -0.10683760792016983 ]
[ -1.58203125, 186.85546875, 178.857421875, 74.8828125, -90.703125, 0.15748031437397003 ]
2.5
75
0
75
0
[ -2.8125, 187.03125, 179.12109375, 75.234375, -94.306640625, -0.10683760792016983 ]
[ -1.58203125, 186.85546875, 178.857421875, 74.8828125, -90.703125, 0.15748031437397003 ]
2.533333
76
0
76
0
[ -2.900390625, 186.85546875, 179.12109375, 74.70703125, -95.09765625, -0.10683760792016983 ]
[ -1.58203125, 186.85546875, 178.857421875, 74.8828125, -91.40625, 0.15748031437397003 ]
2.566667
77
0
77
0
[ -2.900390625, 186.85546875, 178.857421875, 74.1796875, -95.09765625, -0.10683760792016983 ]
[ -1.58203125, 186.85546875, 178.857421875, 74.8828125, -92.548828125, 0.15748031437397003 ]
2.6
78
0
78
0
[ -2.900390625, 186.85546875, 178.59375, 73.740234375, -95.09765625, -0.10683760792016983 ]
[ -1.58203125, 186.6796875, 178.857421875, 74.619140625, -93.603515625, 0.15748031437397003 ]
2.633333
79
0
79
0
[ -2.8125, 186.767578125, 178.2421875, 73.30078125, -95.09765625, -0.10683760792016983 ]
[ -1.58203125, 186.416015625, 178.857421875, 74.443359375, -93.955078125, 0.15748031437397003 ]
2.666667
80
0
80
0
[ -2.724609375, 186.328125, 177.71484375, 72.509765625, -95.009765625, -0.10683760792016983 ]
[ -1.58203125, 186.240234375, 178.857421875, 73.916015625, -94.306640625, 0.15748031437397003 ]
2.7
81
0
81
0
[ -2.63671875, 185.712890625, 177.099609375, 71.71875, -95.009765625, -0.10683760792016983 ]
[ -1.58203125, 186.240234375, 178.76953125, 73.65234375, -94.39453125, 0.15748031437397003 ]
2.733333
82
0
82
0
[ -2.548828125, 184.921875, 176.484375, 70.927734375, -95.009765625, -0.10683760792016983 ]
[ -1.58203125, 186.240234375, 178.681640625, 72.94921875, -94.482421875, 0.15748031437397003 ]
2.766667
83
0
83
0
[ -2.4609375, 184.04296875, 175.60546875, 70.048828125, -94.74609375, -0.10683760792016983 ]
[ -1.58203125, 185.80078125, 178.681640625, 72.0703125, -94.482421875, 0.15748031437397003 ]
2.8
84
0
84
0
[ -2.373046875, 183.1640625, 174.7265625, 69.345703125, -94.5703125, -0.10683760792016983 ]
[ -1.58203125, 184.921875, 178.330078125, 71.3671875, -94.482421875, 0.15748031437397003 ]
2.833333
85
0
85
0
[ -2.28515625, 182.28515625, 173.583984375, 69.08203125, -94.482421875, -0.10683760792016983 ]
[ -1.58203125, 184.21875, 177.71484375, 70.927734375, -94.306640625, 0.15748031437397003 ]
2.866667
86
0
86
0
[ -2.28515625, 181.318359375, 172.177734375, 68.994140625, -94.04296875, -0.10683760792016983 ]
[ -1.58203125, 183.779296875, 176.923828125, 70.224609375, -94.21875, 0.15748031437397003 ]
2.9
87
0
87
0
[ -2.197265625, 180.263671875, 170.68359375, 68.90625, -93.427734375, -0.10683760792016983 ]
[ -1.58203125, 183.33984375, 175.95703125, 69.873046875, -94.21875, 0.15748031437397003 ]
2.933333
88
0
88
0
[ -2.197265625, 179.12109375, 169.013671875, 68.90625, -92.900390625, -0.10683760792016983 ]
[ -1.58203125, 182.197265625, 174.90234375, 69.169921875, -94.21875, 0.15748031437397003 ]
2.966667
89
0
89
0
[ -2.021484375, 177.71484375, 167.255859375, 68.90625, -92.548828125, -0.10683760792016983 ]
[ -1.669921875, 180.791015625, 173.671875, 68.90625, -93.603515625, 0.15748031437397003 ]
3
90
0
90
0
[ -1.845703125, 176.396484375, 165.5859375, 68.90625, -92.28515625, -0.10683760792016983 ]
[ -1.669921875, 180.087890625, 172.44140625, 68.818359375, -92.900390625, 0.15748031437397003 ]
3.033333
91
0
91
0
[ -1.7578125, 174.990234375, 163.916015625, 68.90625, -91.93359375, -0.10683760792016983 ]
[ -1.669921875, 178.9453125, 170.859375, 68.73046875, -92.548828125, 0.15748031437397003 ]
3.066667
92
0
92
0
[ -1.494140625, 173.671875, 162.333984375, 68.90625, -91.494140625, -0.10683760792016983 ]
[ -1.494140625, 177.099609375, 168.92578125, 68.5546875, -92.373046875, 0.15748031437397003 ]
3.1
93
0
93
0
[ -1.318359375, 172.529296875, 160.751953125, 68.90625, -90.966796875, -0.10683760792016983 ]
[ -1.40625, 175.78125, 167.16796875, 68.5546875, -91.669921875, 0.15748031437397003 ]
3.133333
94
0
94
0
[ -1.142578125, 171.298828125, 159.43359375, 68.994140625, -90.52734375, -0.10683760792016983 ]
[ -1.23046875, 174.90234375, 165.76171875, 68.5546875, -91.40625, 0.15748031437397003 ]
3.166667
95
0
95
0
[ -0.703125, 170.15625, 158.02734375, 69.08203125, -90.439453125, -0.10683760792016983 ]
[ -1.142578125, 173.583984375, 164.267578125, 68.5546875, -90.791015625, 0.15748031437397003 ]
3.2
96
0
96
0
[ -0.439453125, 169.189453125, 156.708984375, 69.345703125, -90.087890625, -0.10683760792016983 ]
[ -0.966796875, 172.177734375, 162.685546875, 68.5546875, -90.615234375, 0.15748031437397003 ]
3.233333
97
0
97
0
[ -0.087890625, 168.134765625, 155.478515625, 69.43359375, -89.6484375, -0.10683760792016983 ]
[ -0.966796875, 171.03515625, 161.54296875, 68.818359375, -90.439453125, 0.15748031437397003 ]
3.266667
98
0
98
0
[ 0.263671875, 167.080078125, 154.3359375, 69.43359375, -89.384765625, -0.10683760792016983 ]
[ -0.615234375, 169.98046875, 159.9609375, 68.90625, -90.263671875, 0.15748031437397003 ]
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": 2200,
    "total_tasks": 1,
    "total_videos": 15,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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    "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": {
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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
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.Left_follower": {
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                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.Right_follower": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
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            "info": {
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        "observation.images.Logic_camera": {
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            "shape": [
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                640,
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
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        },
        "timestamp": {
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        "task_index": {
            "dtype": "int64",
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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