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Datasets:
asafxrev
/
so100_jenga_box_may24b_two_cameras

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
jenga
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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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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[ 9.31640625, 185.09765625, 162.861328125, 78.046875, 13.0078125, 0.35385704040527344 ]
2.633333
79
0
79
0
[ 9.052734375, 183.427734375, 162.509765625, 78.046875, 13.53515625, 0 ]
[ 9.31640625, 185.09765625, 162.861328125, 78.046875, 13.0078125, 0.35385704040527344 ]
2.666667
80
0
80
0
[ 9.052734375, 182.63671875, 162.24609375, 77.958984375, 13.53515625, 0 ]
[ 9.31640625, 184.74609375, 162.861328125, 78.046875, 13.0078125, 0.35385704040527344 ]
2.7
81
0
81
0
[ 8.96484375, 181.845703125, 162.0703125, 77.958984375, 13.7109375, 0 ]
[ 9.31640625, 184.130859375, 162.861328125, 78.046875, 13.18359375, 0.35385704040527344 ]
2.733333
82
0
82
0
[ 8.876953125, 181.23046875, 161.89453125, 77.958984375, 13.798828125, 0 ]
[ 9.31640625, 183.427734375, 162.861328125, 78.046875, 13.271484375, 0.35385704040527344 ]
2.766667
83
0
83
0
[ 8.876953125, 180.703125, 161.630859375, 77.958984375, 13.974609375, 0 ]
[ 9.31640625, 182.724609375, 162.861328125, 78.046875, 13.447265625, 0.35385704040527344 ]
2.8
84
0
84
0
[ 8.876953125, 180.17578125, 161.3671875, 77.958984375, 14.326171875, 0 ]
[ 9.31640625, 182.021484375, 162.861328125, 78.046875, 13.53515625, 0.35385704040527344 ]
2.833333
85
0
85
0
[ 8.876953125, 179.6484375, 161.103515625, 77.958984375, 14.677734375, 0 ]
[ 9.228515625, 181.494140625, 162.861328125, 78.046875, 13.7109375, 0.35385704040527344 ]
2.866667
86
0
86
0
[ 8.7890625, 179.12109375, 160.6640625, 77.87109375, 14.94140625, 0 ]
[ 9.140625, 180.966796875, 162.861328125, 78.046875, 14.0625, 0.35385704040527344 ]
2.9
87
0
87
0
[ 8.7890625, 178.41796875, 160.048828125, 77.87109375, 14.94140625, 0 ]
[ 9.140625, 180.439453125, 162.861328125, 78.046875, 14.23828125, 0.35385704040527344 ]
2.933333
88
0
88
0
[ 8.7890625, 177.71484375, 159.43359375, 77.87109375, 15.029296875, 0 ]
[ 9.140625, 179.82421875, 162.861328125, 78.046875, 14.501953125, 0.35385704040527344 ]
2.966667
89
0
89
0
[ 8.7890625, 176.8359375, 158.642578125, 77.783203125, 15.029296875, 0 ]
[ 9.052734375, 179.12109375, 162.421875, 78.046875, 14.58984375, 0.35385704040527344 ]
3
90
0
90
0
[ 8.701171875, 175.95703125, 157.8515625, 77.607421875, 15.029296875, 0 ]
[ 9.052734375, 178.505859375, 161.89453125, 78.046875, 14.677734375, 0.35385704040527344 ]
3.033333
91
0
91
0
[ 8.61328125, 174.90234375, 157.060546875, 77.431640625, 14.94140625, 0 ]
[ 9.052734375, 177.802734375, 161.19140625, 78.046875, 14.765625, 0.35385704040527344 ]
3.066667
92
0
92
0
[ 8.525390625, 173.759765625, 156.26953125, 77.255859375, 14.765625, 0 ]
[ 9.052734375, 176.8359375, 160.400390625, 78.046875, 14.765625, 0.35385704040527344 ]
3.1
93
0
93
0
[ 8.26171875, 172.6171875, 155.478515625, 76.9921875, 14.677734375, 0 ]
[ 9.052734375, 176.044921875, 159.697265625, 77.958984375, 14.765625, 0.35385704040527344 ]
3.133333
94
0
94
0
[ 8.173828125, 171.298828125, 154.775390625, 76.81640625, 14.58984375, 0 ]
[ 8.96484375, 174.90234375, 158.90625, 77.6953125, 14.765625, 0.35385704040527344 ]
3.166667
95
0
95
0
[ 8.0859375, 169.98046875, 153.896484375, 76.552734375, 14.501953125, 0 ]
[ 8.7890625, 173.759765625, 158.203125, 77.51953125, 14.765625, 0.35385704040527344 ]
3.2
96
0
96
0
[ 8.0859375, 168.486328125, 152.841796875, 76.376953125, 14.326171875, 0 ]
[ 8.4375, 172.6171875, 157.412109375, 77.255859375, 14.765625, 0.35385704040527344 ]
3.233333
97
0
97
0
[ 8.0859375, 166.9921875, 151.69921875, 76.2890625, 14.0625, 0 ]
[ 8.0859375, 171.474609375, 156.62109375, 77.080078125, 14.765625, 0.35385704040527344 ]
3.266667
98
0
98
0
[ 8.0859375, 165.322265625, 150.46875, 76.11328125, 13.623046875, 0 ]
[ 7.998046875, 170.068359375, 155.654296875, 76.904296875, 14.765625, 0.35385704040527344 ]
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": 1,
    "total_frames": 896,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.follower_cam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.side_cam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "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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