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Datasets:
rgarreta
/
so100_dataset1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
18
frame_index
int64
0
541
episode_index
int64
0
29
index
int64
0
12.3k
task_index
int64
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[ -26.982421875, 110.21484375, 143.26171875, 33.3984375, -65.21484375, 34.541015625 ]
[ -25.3125, 111.357421875, 146.337890625, 32.6953125, -66.26953125, 34.792808532714844 ]
2.5
75
0
75
0
[ -27.158203125, 109.951171875, 142.822265625, 33.3984375, -64.775390625, 34.541015625 ]
[ -26.015625, 110.654296875, 145.8984375, 32.958984375, -65.91796875, 34.792808532714844 ]
2.533333
76
0
76
0
[ -27.24609375, 109.6875, 142.470703125, 33.3984375, -64.775390625, 34.541015625 ]
[ -26.3671875, 110.302734375, 145.37109375, 33.134765625, -65.56640625, 34.792808532714844 ]
2.566667
77
0
77
0
[ -27.59765625, 109.3359375, 142.03125, 33.3984375, -65.21484375, 34.541015625 ]
[ -26.54296875, 110.126953125, 145.01953125, 33.134765625, -65.302734375, 34.792808532714844 ]
2.6
78
0
78
0
[ -28.125, 108.017578125, 140.9765625, 33.3984375, -65.390625, 34.453125 ]
[ -26.71875, 109.86328125, 144.580078125, 33.22265625, -65.21484375, 34.792808532714844 ]
2.633333
79
0
79
0
[ -28.4765625, 106.5234375, 139.74609375, 33.3984375, -65.390625, 34.541015625 ]
[ -27.24609375, 109.3359375, 143.96484375, 33.22265625, -65.21484375, 34.792808532714844 ]
2.666667
80
0
80
0
[ -28.65234375, 105.205078125, 138.69140625, 33.3984375, -65.302734375, 34.541015625 ]
[ -27.685546875, 108.369140625, 143.0859375, 33.22265625, -65.21484375, 34.792808532714844 ]
2.7
81
0
81
0
[ -28.828125, 103.447265625, 137.4609375, 33.57421875, -65.0390625, 34.541015625 ]
[ -28.125, 107.05078125, 141.943359375, 33.22265625, -65.21484375, 34.792808532714844 ]
2.733333
82
0
82
0
[ -28.828125, 101.865234375, 136.0546875, 33.92578125, -64.951171875, 34.541015625 ]
[ -28.4765625, 105.8203125, 140.888671875, 33.22265625, -65.21484375, 34.792808532714844 ]
2.766667
83
0
83
0
[ -29.00390625, 100.546875, 134.82421875, 34.1015625, -64.599609375, 34.541015625 ]
[ -28.564453125, 104.501953125, 139.833984375, 33.310546875, -65.21484375, 34.792808532714844 ]
2.8
84
0
84
0
[ -29.35546875, 99.404296875, 133.857421875, 34.1015625, -64.248046875, 34.453125 ]
[ -28.564453125, 102.919921875, 138.603515625, 33.57421875, -65.21484375, 34.792808532714844 ]
2.833333
85
0
85
0
[ -29.794921875, 97.646484375, 132.890625, 34.1015625, -63.80859375, 34.453125 ]
[ -28.564453125, 101.42578125, 137.28515625, 33.837890625, -64.86328125, 34.792808532714844 ]
2.866667
86
0
86
0
[ -30.146484375, 95.9765625, 131.572265625, 34.716796875, -63.369140625, 34.453125 ]
[ -28.828125, 100.107421875, 136.318359375, 33.92578125, -64.072265625, 34.792808532714844 ]
2.9
87
0
87
0
[ -30.41015625, 94.21875, 129.990234375, 35.68359375, -62.666015625, 34.365234375 ]
[ -29.267578125, 98.61328125, 135.17578125, 33.92578125, -64.16015625, 34.792808532714844 ]
2.933333
88
0
88
0
[ -30.76171875, 92.63671875, 128.759765625, 36.123046875, -62.314453125, 34.365234375 ]
[ -29.70703125, 96.85546875, 133.76953125, 34.365234375, -63.80859375, 34.792808532714844 ]
2.966667
89
0
89
0
[ -31.025390625, 90.966796875, 127.529296875, 36.474609375, -62.2265625, 34.365234375 ]
[ -30.146484375, 95.185546875, 132.5390625, 35.068359375, -63.28125, 34.792808532714844 ]
3
90
0
90
0
[ -31.376953125, 89.384765625, 126.650390625, 36.5625, -62.05078125, 34.365234375 ]
[ -30.41015625, 93.603515625, 131.30859375, 35.5078125, -62.9296875, 34.792808532714844 ]
3.033333
91
0
91
0
[ -31.640625, 88.330078125, 125.68359375, 36.650390625, -61.875, 34.365234375 ]
[ -30.673828125, 91.93359375, 130.078125, 35.947265625, -62.666015625, 34.792808532714844 ]
3.066667
92
0
92
0
[ -31.904296875, 87.1875, 125.068359375, 36.650390625, -61.875, 34.27734375 ]
[ -30.9375, 90.263671875, 128.935546875, 36.2109375, -62.40234375, 34.792808532714844 ]
3.1
93
0
93
0
[ -32.255859375, 85.95703125, 124.27734375, 36.73828125, -61.875, 34.1015625 ]
[ -31.201171875, 89.033203125, 128.14453125, 36.38671875, -62.2265625, 34.792808532714844 ]
3.133333
94
0
94
0
[ -32.51953125, 84.814453125, 123.57421875, 36.73828125, -61.875, 34.1015625 ]
[ -31.552734375, 87.71484375, 127.353515625, 36.38671875, -62.2265625, 34.558250427246094 ]
3.166667
95
0
95
0
[ -32.6953125, 83.232421875, 122.6953125, 36.73828125, -61.69921875, 34.013671875 ]
[ -31.904296875, 86.484375, 126.474609375, 36.38671875, -62.2265625, 34.401878356933594 ]
3.2
96
0
96
0
[ -32.783203125, 81.9140625, 121.904296875, 36.73828125, -61.5234375, 33.92578125 ]
[ -32.16796875, 85.25390625, 125.68359375, 36.38671875, -62.138671875, 34.401878356933594 ]
3.233333
97
0
97
0
[ -32.87109375, 80.33203125, 120.849609375, 36.73828125, -61.435546875, 33.92578125 ]
[ -32.431640625, 83.935546875, 124.8046875, 36.38671875, -61.962890625, 34.32368850708008 ]
3.266667
98
0
98
0
[ -32.87109375, 78.92578125, 119.970703125, 36.73828125, -60.908203125, 33.92578125 ]
[ -32.431640625, 82.44140625, 123.837890625, 36.38671875, -61.875, 34.24550247192383 ]
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_with_koch",
    "total_episodes": 30,
    "total_frames": 12315,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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": {
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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"
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        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.wrist": {
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            "info": {
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        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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