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Datasets:
DuckZH
/
so100_test_2

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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59.8
frame_index
int64
0
1.79k
episode_index
int64
0
4
index
int64
0
8.97k
task_index
int64
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[ -4.658203125, 192.65625, 178.857421875, 76.552734375, 82.6171875, 11.22994613647461 ]
2.433333
73
0
73
0
[ -5.361328125, 193.18359375, 179.736328125, 76.2890625, 83.14453125, 11.508951187133789 ]
[ -4.658203125, 192.65625, 178.857421875, 76.552734375, 82.6171875, 11.22994613647461 ]
2.466667
74
0
74
0
[ -5.361328125, 193.095703125, 179.6484375, 76.201171875, 83.14453125, 11.508951187133789 ]
[ -4.658203125, 192.65625, 178.857421875, 76.552734375, 82.6171875, 11.22994613647461 ]
2.5
75
0
75
0
[ -5.361328125, 193.095703125, 179.6484375, 76.201171875, 83.14453125, 11.508951187133789 ]
[ -4.658203125, 192.65625, 178.857421875, 76.552734375, 82.6171875, 11.22994613647461 ]
2.533333
76
0
76
0
[ -5.361328125, 193.0078125, 179.560546875, 76.201171875, 83.14453125, 11.508951187133789 ]
[ -4.658203125, 192.65625, 178.857421875, 76.552734375, 82.6171875, 11.22994613647461 ]
2.566667
77
0
77
0
[ -5.361328125, 192.919921875, 179.47265625, 76.201171875, 83.056640625, 11.508951187133789 ]
[ -4.658203125, 192.65625, 178.857421875, 76.552734375, 82.6171875, 11.22994613647461 ]
2.6
78
0
78
0
[ -5.361328125, 192.392578125, 179.384765625, 76.201171875, 83.056640625, 11.508951187133789 ]
[ -4.658203125, 192.65625, 178.857421875, 76.552734375, 82.6171875, 11.22994613647461 ]
2.633333
79
0
79
0
[ -5.361328125, 191.42578125, 178.59375, 76.201171875, 83.056640625, 11.508951187133789 ]
[ -4.658203125, 192.392578125, 178.857421875, 76.552734375, 82.6171875, 11.22994613647461 ]
2.666667
80
0
80
0
[ -5.2734375, 190.107421875, 177.275390625, 76.201171875, 83.056640625, 11.423699378967285 ]
[ -4.658203125, 192.3046875, 178.857421875, 76.552734375, 82.6171875, 11.22994613647461 ]
2.7
81
0
81
0
[ -5.2734375, 188.4375, 175.341796875, 76.201171875, 83.056640625, 11.423699378967285 ]
[ -4.658203125, 191.689453125, 178.857421875, 76.552734375, 82.6171875, 11.22994613647461 ]
2.733333
82
0
82
0
[ -5.2734375, 186.416015625, 173.14453125, 76.201171875, 83.056640625, 11.423699378967285 ]
[ -4.658203125, 190.986328125, 178.76953125, 76.552734375, 82.6171875, 11.22994613647461 ]
2.766667
83
0
83
0
[ -5.2734375, 184.21875, 170.68359375, 76.201171875, 82.96875, 11.423699378967285 ]
[ -4.658203125, 189.84375, 178.2421875, 76.552734375, 82.6171875, 11.22994613647461 ]
2.8
84
0
84
0
[ -5.185546875, 181.845703125, 168.134765625, 76.201171875, 82.96875, 11.423699378967285 ]
[ -4.658203125, 188.0859375, 177.01171875, 76.552734375, 82.6171875, 11.22994613647461 ]
2.833333
85
0
85
0
[ -5.09765625, 179.384765625, 165.41015625, 76.201171875, 82.96875, 11.423699378967285 ]
[ -4.658203125, 186.328125, 175.166015625, 76.552734375, 82.44140625, 11.22994613647461 ]
2.866667
86
0
86
0
[ -5.09765625, 177.01171875, 162.59765625, 76.201171875, 82.880859375, 11.423699378967285 ]
[ -4.658203125, 184.306640625, 172.96875, 76.552734375, 82.265625, 11.22994613647461 ]
2.9
87
0
87
0
[ -5.009765625, 174.55078125, 159.78515625, 76.201171875, 82.880859375, 11.423699378967285 ]
[ -4.658203125, 182.021484375, 170.68359375, 76.552734375, 82.265625, 11.22994613647461 ]
2.933333
88
0
88
0
[ -4.74609375, 172.08984375, 156.884765625, 76.201171875, 82.79296875, 11.423699378967285 ]
[ -4.658203125, 179.912109375, 168.134765625, 76.552734375, 82.265625, 11.22994613647461 ]
2.966667
89
0
89
0
[ -4.21875, 169.8046875, 153.896484375, 76.201171875, 82.79296875, 11.423699378967285 ]
[ -4.658203125, 177.626953125, 165.498046875, 76.552734375, 82.265625, 11.22994613647461 ]
3
90
0
90
0
[ -3.251953125, 167.51953125, 150.99609375, 76.201171875, 82.79296875, 11.423699378967285 ]
[ -4.658203125, 175.25390625, 162.509765625, 76.552734375, 82.265625, 11.22994613647461 ]
3.033333
91
0
91
0
[ -2.197265625, 165.146484375, 148.095703125, 76.201171875, 82.79296875, 11.423699378967285 ]
[ -4.482421875, 172.880859375, 159.609375, 76.552734375, 82.265625, 11.22994613647461 ]
3.066667
92
0
92
0
[ -0.966796875, 162.94921875, 145.283203125, 76.201171875, 82.79296875, 11.423699378967285 ]
[ -3.8671875, 170.33203125, 156.62109375, 76.552734375, 82.265625, 11.22994613647461 ]
3.1
93
0
93
0
[ 0.263671875, 160.751953125, 142.3828125, 76.201171875, 82.79296875, 11.423699378967285 ]
[ -2.98828125, 168.134765625, 153.80859375, 76.552734375, 82.265625, 11.22994613647461 ]
3.133333
94
0
94
0
[ 1.494140625, 158.642578125, 139.5703125, 76.201171875, 82.79296875, 11.423699378967285 ]
[ -1.845703125, 165.5859375, 150.99609375, 76.552734375, 82.265625, 11.22994613647461 ]
3.166667
95
0
95
0
[ 2.63671875, 156.533203125, 136.93359375, 76.201171875, 82.79296875, 11.423699378967285 ]
[ -0.703125, 163.125, 148.359375, 76.552734375, 82.265625, 11.22994613647461 ]
3.2
96
0
96
0
[ 3.8671875, 154.599609375, 134.208984375, 76.201171875, 82.79296875, 11.423699378967285 ]
[ -0.087890625, 160.48828125, 145.458984375, 76.552734375, 82.265625, 11.22994613647461 ]
3.233333
97
0
97
0
[ 5.185546875, 152.841796875, 131.66015625, 76.201171875, 82.79296875, 11.423699378967285 ]
[ 0.615234375, 158.5546875, 142.470703125, 76.552734375, 82.265625, 11.22994613647461 ]
3.266667
98
0
98
0
[ 6.50390625, 151.259765625, 129.19921875, 76.201171875, 82.79296875, 11.423699378967285 ]
[ 1.494140625, 156.62109375, 139.74609375, 76.552734375, 82.265625, 11.22994613647461 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 5,
    "total_frames": 8975,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": [
                6
            ],
            "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.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "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",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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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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Size of the auto-converted Parquet files:
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Number of rows:
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