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Datasets:
salhotra
/
so100wrist_test2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100wrist
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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sequence
observation.state
sequence
timestamp
float32
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16
frame_index
int64
0
479
episode_index
int64
0
39
index
int64
0
15.6k
task_index
int64
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[ 95.80078125, 121.904296875, 132.978515625, 62.40234375, -90.17578125, 34.42053985595703 ]
2.466667
74
0
74
0
[ 95.185546875, 116.89453125, 125.771484375, 61.5234375, -88.06640625, 35.99202346801758 ]
[ 95.80078125, 120.673828125, 131.8359375, 62.05078125, -89.736328125, 34.975711822509766 ]
2.5
75
0
75
0
[ 95.009765625, 115.13671875, 123.75, 62.2265625, -87.626953125, 35.99202346801758 ]
[ 95.80078125, 119.267578125, 130.166015625, 62.05078125, -89.208984375, 35.18389892578125 ]
2.533333
76
0
76
0
[ 94.921875, 113.466796875, 121.728515625, 63.017578125, -87.1875, 35.99202346801758 ]
[ 95.625, 117.7734375, 128.49609375, 62.05078125, -88.681640625, 35.46148681640625 ]
2.566667
77
0
77
0
[ 94.658203125, 111.884765625, 119.70703125, 63.896484375, -86.748046875, 35.99202346801758 ]
[ 95.537109375, 116.103515625, 126.73828125, 62.40234375, -88.154296875, 35.530879974365234 ]
2.6
78
0
78
0
[ 94.482421875, 110.302734375, 117.7734375, 64.51171875, -86.220703125, 35.99202346801758 ]
[ 95.361328125, 114.43359375, 124.8046875, 63.10546875, -87.71484375, 35.600276947021484 ]
2.633333
79
0
79
0
[ 94.21875, 108.80859375, 116.015625, 65.0390625, -85.869140625, 35.99202346801758 ]
[ 95.09765625, 112.8515625, 122.87109375, 63.6328125, -87.275390625, 35.669673919677734 ]
2.666667
80
0
80
0
[ 94.04296875, 107.490234375, 114.2578125, 65.654296875, -85.517578125, 35.99202346801758 ]
[ 94.921875, 111.26953125, 121.11328125, 63.984375, -86.8359375, 35.739070892333984 ]
2.7
81
0
81
0
[ 93.8671875, 106.34765625, 112.587890625, 66.357421875, -85.341796875, 36.09172439575195 ]
[ 94.658203125, 109.775390625, 119.267578125, 64.86328125, -86.396484375, 35.739070892333984 ]
2.733333
82
0
82
0
[ 93.69140625, 105.29296875, 111.181640625, 67.060546875, -85.25390625, 36.09172439575195 ]
[ 94.482421875, 108.193359375, 117.421875, 65.390625, -86.044921875, 35.739070892333984 ]
2.766667
83
0
83
0
[ 93.515625, 104.501953125, 109.951171875, 67.67578125, -85.25390625, 36.09172439575195 ]
[ 94.306640625, 106.962890625, 115.927734375, 65.91796875, -85.78125, 35.739070892333984 ]
2.8
84
0
84
0
[ 93.33984375, 103.798828125, 108.984375, 68.115234375, -85.078125, 36.09172439575195 ]
[ 94.04296875, 105.732421875, 114.345703125, 66.796875, -85.78125, 35.739070892333984 ]
2.833333
85
0
85
0
[ 93.076171875, 103.18359375, 108.193359375, 68.291015625, -85.078125, 36.09172439575195 ]
[ 93.955078125, 104.853515625, 113.02734375, 67.1484375, -85.517578125, 35.739070892333984 ]
2.866667
86
0
86
0
[ 92.900390625, 102.568359375, 107.490234375, 68.466796875, -85.166015625, 36.09172439575195 ]
[ 93.69140625, 103.974609375, 112.060546875, 67.67578125, -85.4296875, 35.739070892333984 ]
2.9
87
0
87
0
[ 92.8125, 101.953125, 106.787109375, 68.466796875, -85.4296875, 36.09172439575195 ]
[ 93.515625, 103.18359375, 111.09375, 67.939453125, -85.4296875, 35.739070892333984 ]
2.933333
88
0
88
0
[ 92.724609375, 101.42578125, 106.259765625, 68.203125, -85.60546875, 36.09172439575195 ]
[ 93.33984375, 102.568359375, 110.21484375, 68.115234375, -85.341796875, 35.739070892333984 ]
2.966667
89
0
89
0
[ 92.548828125, 100.810546875, 105.64453125, 67.763671875, -85.60546875, 35.99202346801758 ]
[ 93.251953125, 101.865234375, 109.423828125, 68.115234375, -85.4296875, 35.739070892333984 ]
3
90
0
90
0
[ 92.373046875, 100.107421875, 105.029296875, 67.236328125, -85.693359375, 35.99202346801758 ]
[ 92.98828125, 101.25, 108.80859375, 68.115234375, -85.4296875, 35.739070892333984 ]
3.033333
91
0
91
0
[ 92.28515625, 99.31640625, 104.4140625, 66.708984375, -85.78125, 35.99202346801758 ]
[ 92.900390625, 100.546875, 108.193359375, 68.02734375, -85.4296875, 35.739070892333984 ]
3.066667
92
0
92
0
[ 92.197265625, 98.525390625, 103.53515625, 66.181640625, -85.78125, 35.99202346801758 ]
[ 92.8125, 99.84375, 107.490234375, 67.587890625, -85.4296875, 35.739070892333984 ]
3.1
93
0
93
0
[ 92.109375, 97.646484375, 102.65625, 65.91796875, -85.693359375, 35.99202346801758 ]
[ 92.63671875, 99.140625, 106.875, 67.1484375, -85.4296875, 35.739070892333984 ]
3.133333
94
0
94
0
[ 92.021484375, 96.85546875, 101.513671875, 65.7421875, -85.60546875, 35.99202346801758 ]
[ 92.548828125, 98.26171875, 105.99609375, 66.884765625, -85.4296875, 35.739070892333984 ]
3.166667
95
0
95
0
[ 92.021484375, 95.888671875, 100.458984375, 65.56640625, -85.4296875, 35.99202346801758 ]
[ 92.4609375, 97.470703125, 105.1171875, 66.533203125, -85.4296875, 35.739070892333984 ]
3.2
96
0
96
0
[ 91.93359375, 94.921875, 99.404296875, 65.302734375, -85.166015625, 35.99202346801758 ]
[ 92.373046875, 96.6796875, 104.150390625, 66.357421875, -85.4296875, 35.739070892333984 ]
3.233333
97
0
97
0
[ 91.93359375, 93.8671875, 98.349609375, 65.0390625, -84.7265625, 35.99202346801758 ]
[ 92.373046875, 95.712890625, 103.0078125, 66.181640625, -85.4296875, 35.739070892333984 ]
3.266667
98
0
98
0
[ 91.845703125, 92.724609375, 97.119140625, 64.951171875, -84.462890625, 35.99202346801758 ]
[ 92.373046875, 94.921875, 102.041015625, 65.830078125, -85.341796875, 35.739070892333984 ]
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": "so100wrist",
    "total_episodes": 20,
    "total_frames": 7980,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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": "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": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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