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Datasets:
kkurzweil
/
so100_wrist_01

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
tutorial
Libraries:
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Dask
License:
Dataset card Data Studio Files Community
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sequence
observation.state
sequence
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float32
0
59.8
frame_index
int64
0
1.79k
episode_index
int64
0
22
index
int64
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38.7k
task_index
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[ -7.998046875, 101.953125, 119.794921875, 58.7109375, -33.310546875, 15.255423545837402 ]
2.366667
71
0
71
0
[ -8.701171875, 96.328125, 112.5, 55.986328125, -32.080078125, 17.801998138427734 ]
[ -8.26171875, 99.931640625, 118.828125, 58.18359375, -32.958984375, 16.165149688720703 ]
2.4
72
0
72
0
[ -8.4375, 95.361328125, 112.236328125, 55.283203125, -32.080078125, 17.892824172973633 ]
[ -8.525390625, 98.349609375, 117.94921875, 57.744140625, -32.783203125, 16.65500259399414 ]
2.433333
73
0
73
0
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2.466667
74
0
74
0
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2.5
75
0
75
0
[ -7.822265625, 92.4609375, 111.796875, 52.822265625, -32.607421875, 18.16530418395996 ]
[ -8.876953125, 94.39453125, 116.3671875, 55.8984375, -32.51953125, 17.424772262573242 ]
2.533333
76
0
76
0
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2.566667
77
0
77
0
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2.6
78
0
78
0
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2.633333
79
0
79
0
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2.666667
80
0
80
0
[ -7.646484375, 90.615234375, 111.005859375, 51.767578125, -32.87109375, 18.16530418395996 ]
[ -8.525390625, 90.52734375, 115.6640625, 53.0859375, -32.51953125, 18.33449935913086 ]
2.7
81
0
81
0
[ -7.470703125, 90.3515625, 111.005859375, 51.591796875, -32.958984375, 17.438692092895508 ]
[ -8.525390625, 90.087890625, 115.48828125, 52.822265625, -32.51953125, 18.404478073120117 ]
2.733333
82
0
82
0
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[ -8.525390625, 89.82421875, 115.3125, 52.55859375, -32.51953125, 18.404478073120117 ]
2.766667
83
0
83
0
[ -7.294921875, 89.82421875, 111.09375, 50.9765625, -33.22265625, 14.804722785949707 ]
[ -8.4375, 89.6484375, 115.13671875, 52.294921875, -32.51953125, 18.194541931152344 ]
2.8
84
0
84
0
[ -7.20703125, 89.736328125, 111.181640625, 50.888671875, -33.310546875, 12.534059524536133 ]
[ -8.26171875, 89.384765625, 115.13671875, 52.03125, -32.51953125, 17.354793548583984 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ -7.998046875, 88.857421875, 114.9609375, 51.50390625, -32.51953125, 14.835549354553223 ]
2.9
87
0
87
0
[ -7.20703125, 89.6484375, 111.796875, 50.2734375, -33.310546875, 0.908265233039856 ]
[ -7.91015625, 88.681640625, 114.9609375, 51.50390625, -32.51953125, 13.925822257995605 ]
2.933333
88
0
88
0
[ -7.294921875, 89.6484375, 112.060546875, 50.2734375, -33.310546875, 0 ]
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2.966667
89
0
89
0
[ -7.3828125, 89.736328125, 112.5, 50.361328125, -33.310546875, 0 ]
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3
90
0
90
0
[ -7.470703125, 90, 112.8515625, 50.2734375, -33.3984375, -0.09082651883363724 ]
[ -7.91015625, 88.59375, 114.9609375, 50.888671875, -32.51953125, 6.997900485992432 ]
3.033333
91
0
91
0
[ -7.470703125, 90.087890625, 112.939453125, 50.2734375, -33.22265625, -0.09082651883363724 ]
[ -7.91015625, 88.59375, 114.9609375, 50.888671875, -32.51953125, 6.018194675445557 ]
3.066667
92
0
92
0
[ -7.55859375, 90.263671875, 112.939453125, 50.537109375, -33.046875, -0.09082651883363724 ]
[ -7.91015625, 88.59375, 114.9609375, 50.888671875, -32.51953125, 6.018194675445557 ]
3.1
93
0
93
0
[ -7.734375, 90.52734375, 112.939453125, 51.064453125, -32.783203125, -0.09082651883363724 ]
[ -7.91015625, 88.59375, 114.9609375, 50.888671875, -32.783203125, 6.018194675445557 ]
3.133333
94
0
94
0
[ -7.822265625, 91.318359375, 112.8515625, 51.943359375, -32.34375, -0.09082651883363724 ]
[ -7.91015625, 88.59375, 114.9609375, 50.888671875, -32.87109375, 6.018194675445557 ]
3.166667
95
0
95
0
[ -7.998046875, 92.548828125, 112.060546875, 53.525390625, -31.640625, -0.09082651883363724 ]
[ -7.91015625, 88.59375, 114.9609375, 50.888671875, -32.87109375, 6.018194675445557 ]
3.2
96
0
96
0
[ -7.998046875, 94.5703125, 110.56640625, 56.25, -30.9375, -0.09082651883363724 ]
[ -7.91015625, 88.59375, 114.9609375, 51.240234375, -32.87109375, 6.018194675445557 ]
3.233333
97
0
97
0
[ -8.173828125, 97.822265625, 108.45703125, 59.677734375, -30.322265625, -0.09082651883363724 ]
[ -7.91015625, 88.59375, 114.9609375, 51.943359375, -32.431640625, 6.018194675445557 ]
3.266667
98
0
98
0
[ -8.96484375, 102.12890625, 106.259765625, 63.017578125, -29.619140625, -0.09082651883363724 ]
[ -7.91015625, 88.59375, 114.697265625, 52.55859375, -32.16796875, 6.018194675445557 ]
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": 23,
    "total_frames": 38667,
    "total_tasks": 1,
    "total_videos": 46,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:23"
    },
    "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.top": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
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            "info": {
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                "video.codec": "av1",
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        "observation.images.wrist": {
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            "shape": [
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            "names": [
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                "channels"
            ],
            "info": {
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                "video.channels": 3,
                "video.codec": "av1",
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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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:
38,667