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Datasets:
RasmusP
/
so100_Orange2Green

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
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
49
index
int64
0
29.7k
task_index
int64
0
0
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[ 17.9296875, 145.283203125, 129.990234375, 68.73046875, -7.470703125, -0.07541478425264359 ]
2.6
78
0
78
0
[ 24.43359375, 138.69140625, 119.091796875, 73.388671875, -7.119140625, -0.4340277910232544 ]
[ 19.599609375, 143.4375, 127.96875, 69.9609375, -7.470703125, -0.07541478425264359 ]
2.633333
79
0
79
0
[ 25.751953125, 136.7578125, 117.158203125, 74.794921875, -7.119140625, -0.4340277910232544 ]
[ 21.181640625, 141.767578125, 125.771484375, 71.3671875, -7.470703125, -0.07541478425264359 ]
2.666667
80
0
80
0
[ 27.0703125, 134.912109375, 115.48828125, 76.025390625, -7.119140625, -0.4340277910232544 ]
[ 22.763671875, 139.658203125, 123.662109375, 72.7734375, -7.470703125, -0.07541478425264359 ]
2.7
81
0
81
0
[ 28.30078125, 133.154296875, 113.994140625, 77.255859375, -7.119140625, -0.4340277910232544 ]
[ 24.08203125, 137.724609375, 121.552734375, 74.091796875, -7.470703125, -0.07541478425264359 ]
2.733333
82
0
82
0
[ 29.443359375, 131.30859375, 112.67578125, 78.310546875, -7.119140625, -0.4340277910232544 ]
[ 25.400390625, 136.0546875, 119.70703125, 75.146484375, -7.470703125, -0.07541478425264359 ]
2.766667
83
0
83
0
[ 30.498046875, 129.55078125, 111.533203125, 79.27734375, -7.119140625, -0.4340277910232544 ]
[ 26.54296875, 134.208984375, 117.94921875, 76.46484375, -7.470703125, -0.07541478425264359 ]
2.8
84
0
84
0
[ 31.46484375, 127.705078125, 110.56640625, 80.15625, -7.119140625, -0.4340277910232544 ]
[ 27.861328125, 132.275390625, 116.3671875, 77.51953125, -7.470703125, -0.07541478425264359 ]
2.833333
85
0
85
0
[ 32.34375, 126.03515625, 109.86328125, 81.123046875, -7.119140625, -0.4340277910232544 ]
[ 29.00390625, 130.60546875, 115.13671875, 78.486328125, -7.470703125, -0.07541478425264359 ]
2.866667
86
0
86
0
[ 33.3984375, 124.365234375, 109.248046875, 82.001953125, -7.119140625, -0.4340277910232544 ]
[ 30.146484375, 128.759765625, 113.90625, 79.541015625, -7.470703125, -0.07541478425264359 ]
2.9
87
0
87
0
[ 34.541015625, 122.6953125, 108.6328125, 82.79296875, -7.119140625, -0.347222238779068 ]
[ 31.201171875, 126.9140625, 112.8515625, 80.5078125, -7.470703125, -0.07541478425264359 ]
2.933333
88
0
88
0
[ 35.68359375, 121.11328125, 108.10546875, 83.49609375, -7.119140625, -0.347222238779068 ]
[ 32.080078125, 125.244140625, 112.1484375, 81.38671875, -7.470703125, -0.07541478425264359 ]
2.966667
89
0
89
0
[ 36.9140625, 119.70703125, 107.666015625, 84.19921875, -7.119140625, -0.347222238779068 ]
[ 33.310546875, 123.57421875, 111.4453125, 82.265625, -7.470703125, -0.07541478425264359 ]
3
90
0
90
0
[ 38.056640625, 118.4765625, 107.138671875, 84.814453125, -7.119140625, -0.347222238779068 ]
[ 34.365234375, 121.9921875, 110.7421875, 82.96875, -7.470703125, -0.07541478425264359 ]
3.033333
91
0
91
0
[ 39.19921875, 117.333984375, 106.69921875, 85.4296875, -7.119140625, -0.347222238779068 ]
[ 35.68359375, 120.41015625, 110.21484375, 83.671875, -7.470703125, -0.07541478425264359 ]
3.066667
92
0
92
0
[ 40.341796875, 116.455078125, 106.259765625, 85.693359375, -7.20703125, -0.347222238779068 ]
[ 36.650390625, 119.1796875, 109.775390625, 84.287109375, -7.470703125, -0.07541478425264359 ]
3.1
93
0
93
0
[ 41.396484375, 115.6640625, 105.732421875, 85.78125, -7.294921875, -0.347222238779068 ]
[ 37.79296875, 117.94921875, 109.248046875, 84.90234375, -7.470703125, -0.07541478425264359 ]
3.133333
94
0
94
0
[ 42.36328125, 115.13671875, 105.205078125, 85.78125, -7.55859375, -0.347222238779068 ]
[ 38.935546875, 116.89453125, 108.80859375, 85.166015625, -7.470703125, -0.07541478425264359 ]
3.166667
95
0
95
0
[ 43.154296875, 114.521484375, 104.58984375, 85.78125, -7.646484375, -0.347222238779068 ]
[ 39.990234375, 116.015625, 108.28125, 85.4296875, -7.470703125, -0.07541478425264359 ]
3.2
96
0
96
0
[ 43.76953125, 113.994140625, 103.88671875, 85.78125, -7.734375, -0.347222238779068 ]
[ 41.220703125, 115.3125, 107.75390625, 85.4296875, -7.55859375, -0.07541478425264359 ]
3.233333
97
0
97
0
[ 44.384765625, 113.37890625, 103.18359375, 85.78125, -7.734375, -0.347222238779068 ]
[ 42.1875, 114.609375, 107.138671875, 85.4296875, -7.55859375, -0.07541478425264359 ]
3.266667
98
0
98
0
[ 44.82421875, 112.587890625, 102.48046875, 85.78125, -7.734375, -0.347222238779068 ]
[ 42.978515625, 113.994140625, 106.5234375, 85.4296875, -7.55859375, -0.07541478425264359 ]
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": 50,
    "total_frames": 29712,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.phone": {
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            "shape": [
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                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": {
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Number of rows:
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