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Datasets:
RasmusP
/
so100_Green2Orange_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
lerobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
19.8
frame_index
int64
0
594
episode_index
int64
0
1
index
int64
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1.19k
task_index
int64
0
0
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73
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73
0
[ 45.791015625, 88.76953125, 81.5625, 91.318359375, -2.548828125, 35.76388931274414 ]
[ 45.87890625, 96.15234375, 91.40625, 86.923828125, -2.4609375, 35.4449462890625 ]
2.466667
74
0
74
0
[ 45.791015625, 86.396484375, 79.716796875, 92.724609375, -2.548828125, 35.76388931274414 ]
[ 45.87890625, 92.98828125, 88.857421875, 88.41796875, -2.4609375, 35.4449462890625 ]
2.5
75
0
75
0
[ 45.87890625, 84.287109375, 77.958984375, 93.69140625, -2.548828125, 35.76388931274414 ]
[ 45.791015625, 90, 86.396484375, 90.17578125, -2.4609375, 35.4449462890625 ]
2.533333
76
0
76
0
[ 45.966796875, 82.353515625, 76.376953125, 94.482421875, -2.548828125, 35.76388931274414 ]
[ 45.703125, 87.451171875, 84.375, 91.142578125, -2.4609375, 35.4449462890625 ]
2.566667
77
0
77
0
[ 46.0546875, 80.595703125, 74.970703125, 94.921875, -2.4609375, 35.76388931274414 ]
[ 45.615234375, 85.166015625, 82.353515625, 92.28515625, -2.4609375, 35.4449462890625 ]
2.6
78
0
78
0
[ 46.142578125, 79.189453125, 73.828125, 94.921875, -2.28515625, 35.76388931274414 ]
[ 45.52734375, 82.880859375, 80.5078125, 93.603515625, -2.4609375, 35.4449462890625 ]
2.633333
79
0
79
0
[ 46.23046875, 77.87109375, 72.861328125, 94.921875, -2.021484375, 35.76388931274414 ]
[ 45.52734375, 80.947265625, 78.837890625, 93.955078125, -2.4609375, 35.4449462890625 ]
2.666667
80
0
80
0
[ 46.318359375, 76.81640625, 71.89453125, 94.833984375, -1.93359375, 35.76388931274414 ]
[ 45.703125, 79.453125, 77.51953125, 93.955078125, -2.4609375, 35.4449462890625 ]
2.7
81
0
81
0
[ 46.40625, 75.9375, 70.927734375, 94.833984375, -1.845703125, 35.76388931274414 ]
[ 46.0546875, 77.958984375, 76.201171875, 94.658203125, -2.28515625, 35.4449462890625 ]
2.733333
82
0
82
0
[ 46.7578125, 75.234375, 70.048828125, 94.658203125, -1.845703125, 35.76388931274414 ]
[ 46.318359375, 76.640625, 75.234375, 94.21875, -2.109375, 35.4449462890625 ]
2.766667
83
0
83
0
[ 47.373046875, 74.53125, 69.169921875, 94.482421875, -1.845703125, 35.76388931274414 ]
[ 46.494140625, 75.673828125, 74.1796875, 94.306640625, -2.109375, 35.4449462890625 ]
2.8
84
0
84
0
[ 47.98828125, 74.00390625, 68.37890625, 94.306640625, -1.845703125, 35.76388931274414 ]
[ 46.58203125, 74.794921875, 73.30078125, 94.39453125, -2.109375, 35.4449462890625 ]
2.833333
85
0
85
0
[ 48.515625, 73.564453125, 67.5, 94.21875, -1.845703125, 35.76388931274414 ]
[ 46.7578125, 74.1796875, 72.24609375, 94.39453125, -2.109375, 35.4449462890625 ]
2.866667
86
0
86
0
[ 49.130859375, 73.125, 66.533203125, 94.21875, -1.845703125, 35.76388931274414 ]
[ 47.28515625, 73.65234375, 71.455078125, 94.306640625, -2.109375, 35.4449462890625 ]
2.9
87
0
87
0
[ 49.74609375, 72.685546875, 65.56640625, 94.21875, -2.197265625, 35.76388931274414 ]
[ 48.076171875, 73.037109375, 70.48828125, 94.658203125, -2.109375, 35.4449462890625 ]
2.933333
88
0
88
0
[ 50.537109375, 72.24609375, 64.51171875, 94.21875, -2.373046875, 35.76388931274414 ]
[ 48.8671875, 72.509765625, 69.43359375, 94.39453125, -2.109375, 35.4449462890625 ]
2.966667
89
0
89
0
[ 51.328125, 71.71875, 63.6328125, 94.21875, -2.4609375, 35.76388931274414 ]
[ 49.658203125, 72.158203125, 68.642578125, 94.306640625, -2.109375, 35.4449462890625 ]
3
90
0
90
0
[ 52.119140625, 71.015625, 62.9296875, 94.21875, -2.4609375, 35.76388931274414 ]
[ 50.361328125, 71.71875, 67.5, 94.5703125, -2.109375, 35.4449462890625 ]
3.033333
91
0
91
0
[ 52.822265625, 70.048828125, 62.2265625, 94.130859375, -2.548828125, 35.76388931274414 ]
[ 50.9765625, 71.015625, 66.533203125, 94.482421875, -2.197265625, 35.4449462890625 ]
3.066667
92
0
92
0
[ 53.4375, 68.90625, 61.435546875, 94.04296875, -2.548828125, 35.76388931274414 ]
[ 51.50390625, 70.224609375, 65.7421875, 94.482421875, -2.197265625, 35.4449462890625 ]
3.1
93
0
93
0
[ 53.876953125, 67.67578125, 60.46875, 94.04296875, -2.548828125, 35.76388931274414 ]
[ 51.943359375, 69.345703125, 64.951171875, 94.482421875, -2.28515625, 35.4449462890625 ]
3.133333
94
0
94
0
[ 53.876953125, 66.26953125, 59.326171875, 94.04296875, -2.548828125, 35.76388931274414 ]
[ 52.55859375, 68.203125, 64.16015625, 94.482421875, -2.28515625, 35.4449462890625 ]
3.166667
95
0
95
0
[ 53.876953125, 64.775390625, 57.919921875, 94.04296875, -2.548828125, 35.76388931274414 ]
[ 53.173828125, 66.884765625, 63.28125, 94.482421875, -2.28515625, 35.4449462890625 ]
3.2
96
0
96
0
[ 53.349609375, 63.10546875, 56.513671875, 94.04296875, -2.548828125, 35.76388931274414 ]
[ 53.7890625, 65.478515625, 62.314453125, 94.482421875, -2.28515625, 35.4449462890625 ]
3.233333
97
0
97
0
[ 53.173828125, 61.5234375, 54.931640625, 94.130859375, -2.4609375, 35.76388931274414 ]
[ 53.876953125, 64.248046875, 61.083984375, 94.482421875, -2.28515625, 35.4449462890625 ]
3.266667
98
0
98
0
[ 52.998046875, 60.029296875, 53.349609375, 94.658203125, -2.4609375, 35.76388931274414 ]
[ 53.7890625, 62.578125, 59.677734375, 94.5703125, -2.28515625, 35.4449462890625 ]
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": 2,
    "total_frames": 1190,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "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.webcam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "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
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "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",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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