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DD99to5
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so100_test

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Robotics
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LeRobot
so100
tutorial
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sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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2.366667
71
0
71
0
[ 15.380859375, 44.033203125, 40.869140625, 51.50390625, 16.962890625, -0.39840638637542725 ]
[ 12.216796875, 33.310546875, 33.92578125, 54.140625, 13.623046875, 0.6876227855682373 ]
2.4
72
0
72
0
[ 16.259765625, 46.7578125, 41.748046875, 50.9765625, 17.841796875, -0.39840638637542725 ]
[ 13.271484375, 36.73828125, 35.771484375, 53.349609375, 14.677734375, 0.6876227855682373 ]
2.433333
73
0
73
0
[ 17.2265625, 49.74609375, 42.890625, 50.9765625, 18.45703125, -0.39840638637542725 ]
[ 14.677734375, 40.078125, 37.265625, 52.646484375, 15.732421875, 0.6876227855682373 ]
2.466667
74
0
74
0
[ 18.28125, 52.3828125, 44.033203125, 50.9765625, 19.16015625, -0.39840638637542725 ]
[ 15.46875, 42.890625, 38.3203125, 52.119140625, 16.5234375, 0.6876227855682373 ]
2.5
75
0
75
0
[ 19.51171875, 54.4921875, 44.912109375, 50.9765625, 19.775390625, -0.39840638637542725 ]
[ 16.171875, 45.966796875, 39.375, 51.943359375, 17.40234375, 0.6876227855682373 ]
2.533333
76
0
76
0
[ 20.7421875, 56.07421875, 45.615234375, 50.9765625, 20.302734375, -0.39840638637542725 ]
[ 16.69921875, 48.955078125, 40.693359375, 51.767578125, 18.10546875, 0.6876227855682373 ]
2.566667
77
0
77
0
[ 21.796875, 57.216796875, 46.0546875, 50.9765625, 20.830078125, -0.39840638637542725 ]
[ 18.017578125, 51.6796875, 41.748046875, 51.6796875, 18.80859375, 0.6876227855682373 ]
2.6
78
0
78
0
[ 22.763671875, 58.271484375, 46.318359375, 50.9765625, 21.357421875, -0.39840638637542725 ]
[ 19.072265625, 53.876953125, 42.626953125, 51.591796875, 19.423828125, 0.6876227855682373 ]
2.633333
79
0
79
0
[ 23.466796875, 59.501953125, 46.58203125, 50.888671875, 21.708984375, -0.39840638637542725 ]
[ 20.126953125, 55.546875, 43.2421875, 51.50390625, 20.0390625, 0.6876227855682373 ]
2.666667
80
0
80
0
[ 24.345703125, 60.29296875, 46.58203125, 50.625, 22.060546875, -0.26560425758361816 ]
[ 21.26953125, 57.041015625, 43.76953125, 51.50390625, 20.56640625, 0.6876227855682373 ]
2.7
81
0
81
0
[ 25.3125, 60.99609375, 46.494140625, 50.185546875, 22.32421875, -0.26560425758361816 ]
[ 22.5, 58.359375, 44.12109375, 51.416015625, 21.09375, 0.6876227855682373 ]
2.733333
82
0
82
0
[ 26.279296875, 61.5234375, 46.40625, 50.009765625, 22.763671875, -0.26560425758361816 ]
[ 23.5546875, 59.501953125, 44.208984375, 51.240234375, 21.4453125, 0.6876227855682373 ]
2.766667
83
0
83
0
[ 27.24609375, 61.962890625, 46.40625, 49.921875, 23.115234375, -0.26560425758361816 ]
[ 24.345703125, 60.46875, 44.296875, 50.888671875, 21.796875, 0.6876227855682373 ]
2.8
84
0
84
0
[ 28.037109375, 62.138671875, 46.40625, 49.833984375, 23.37890625, -0.26560425758361816 ]
[ 24.78515625, 61.171875, 44.296875, 50.712890625, 22.236328125, 0.6876227855682373 ]
2.833333
85
0
85
0
[ 28.65234375, 62.40234375, 46.40625, 49.833984375, 23.5546875, -0.26560425758361816 ]
[ 25.83984375, 61.875, 44.296875, 50.44921875, 22.587890625, 0.6876227855682373 ]
2.866667
86
0
86
0
[ 29.091796875, 63.017578125, 46.40625, 49.833984375, 23.818359375, -0.26560425758361816 ]
[ 26.630859375, 62.138671875, 44.296875, 50.44921875, 22.8515625, 0.6876227855682373 ]
2.9
87
0
87
0
[ 29.443359375, 64.16015625, 46.58203125, 49.833984375, 24.169921875, -0.26560425758361816 ]
[ 27.333984375, 62.40234375, 44.296875, 50.44921875, 23.203125, 0.6876227855682373 ]
2.933333
88
0
88
0
[ 29.443359375, 65.478515625, 46.669921875, 49.658203125, 24.43359375, -0.26560425758361816 ]
[ 28.125, 63.017578125, 44.384765625, 50.44921875, 23.466796875, 0.6876227855682373 ]
2.966667
89
0
89
0
[ 29.443359375, 66.62109375, 46.669921875, 49.04296875, 24.78515625, -0.26560425758361816 ]
[ 29.00390625, 63.896484375, 44.47265625, 50.361328125, 23.818359375, 0.6876227855682373 ]
3
90
0
90
0
[ 29.443359375, 67.67578125, 46.669921875, 48.515625, 25.13671875, -0.26560425758361816 ]
[ 29.091796875, 64.951171875, 44.47265625, 50.185546875, 23.994140625, 0.6876227855682373 ]
3.033333
91
0
91
0
[ 29.443359375, 68.642578125, 46.669921875, 47.98828125, 25.576171875, -0.26560425758361816 ]
[ 29.1796875, 66.09375, 44.47265625, 49.74609375, 24.43359375, 0.6876227855682373 ]
3.066667
92
0
92
0
[ 29.70703125, 69.609375, 47.021484375, 47.724609375, 26.015625, -0.26560425758361816 ]
[ 29.1796875, 67.1484375, 44.47265625, 49.306640625, 24.697265625, 0.6876227855682373 ]
3.1
93
0
93
0
[ 29.8828125, 70.576171875, 47.63671875, 47.63671875, 26.279296875, -0.13280212879180908 ]
[ 28.828125, 68.203125, 44.560546875, 48.779296875, 25.048828125, 0.6876227855682373 ]
3.133333
94
0
94
0
[ 30.146484375, 71.103515625, 48.1640625, 47.63671875, 26.279296875, 0.6640106439590454 ]
[ 29.1796875, 69.2578125, 44.736328125, 48.515625, 25.48828125, 0.6876227855682373 ]
3.166667
95
0
95
0
[ 30.234375, 71.455078125, 48.603515625, 47.63671875, 26.279296875, 1.726427674293518 ]
[ 29.35546875, 70.3125, 45.263671875, 48.33984375, 25.751953125, 0.6876227855682373 ]
3.2
96
0
96
0
[ 30.498046875, 71.630859375, 48.955078125, 47.63671875, 26.279296875, 3.0544488430023193 ]
[ 29.70703125, 71.103515625, 45.791015625, 48.33984375, 25.83984375, 0.8840864300727844 ]
3.233333
97
0
97
0
[ 31.025390625, 71.89453125, 49.482421875, 47.63671875, 26.279296875, 4.116865634918213 ]
[ 30.234375, 71.3671875, 46.23046875, 48.33984375, 25.927734375, 1.3752455711364746 ]
3.266667
98
0
98
0
[ 31.552734375, 72.24609375, 50.09765625, 47.63671875, 26.279296875, 4.648074150085449 ]
[ 30.498046875, 71.54296875, 46.494140625, 48.33984375, 25.927734375, 2.161100149154663 ]
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": 596,
    "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": {
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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
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.phone": {
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            "names": [
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                "channels"
            ],
            "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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            "names": null
        }
    }
}

Citation

BibTeX:

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