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Datasets:
zaringleb
/
so100_cube_5_linear

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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sequence
observation.state
sequence
timestamp
float32
0
8.93
frame_index
int64
0
268
episode_index
int64
0
49
index
int64
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13.4k
task_index
int64
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[ -0.439453125, 152.75390625, 139.74609375, 56.953125, -0.439453125, -18.886198043823242 ]
2.3
69
0
69
0
[ 1.142578125, 139.74609375, 131.1328125, 54.404296875, 0.263671875, -19.09424591064453 ]
[ -0.263671875, 149.677734375, 138.251953125, 56.25, -0.263671875, -18.886198043823242 ]
2.333333
70
0
70
0
[ 1.40625, 135.966796875, 129.19921875, 53.96484375, 0.439453125, -19.216646194458008 ]
[ -0.17578125, 146.865234375, 136.7578125, 55.8984375, -0.17578125, -18.886198043823242 ]
2.366667
71
0
71
0
[ 2.021484375, 132.275390625, 127.08984375, 53.96484375, 0.87890625, -19.339046478271484 ]
[ -0.087890625, 143.876953125, 135.17578125, 55.1953125, -0.17578125, -18.886198043823242 ]
2.4
72
0
72
0
[ 2.548828125, 128.408203125, 124.716796875, 54.052734375, 1.23046875, -20.80783462524414 ]
[ 0.439453125, 140.2734375, 133.06640625, 54.404296875, -0.17578125, -18.886198043823242 ]
2.433333
73
0
73
0
[ 3.076171875, 124.27734375, 121.904296875, 54.580078125, 1.669921875, -22.88861656188965 ]
[ 1.0546875, 136.7578125, 131.1328125, 54.228515625, -0.17578125, -18.886198043823242 ]
2.466667
74
0
74
0
[ 3.603515625, 119.970703125, 118.740234375, 55.634765625, 2.373046875, -20.930233001708984 ]
[ 1.58203125, 133.2421875, 128.935546875, 54.228515625, 0.17578125, -19.612590789794922 ]
2.5
75
0
75
0
[ 3.8671875, 115.83984375, 115.48828125, 56.689453125, 2.98828125, -19.09424591064453 ]
[ 2.109375, 129.287109375, 126.2109375, 54.140625, 0.439453125, -20.581113815307617 ]
2.533333
76
0
76
0
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[ 2.373046875, 125.595703125, 123.57421875, 54.580078125, 0.966796875, -20.581113815307617 ]
2.566667
77
0
77
0
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[ 2.548828125, 121.46484375, 120.76171875, 55.283203125, 1.318359375, -19.612590789794922 ]
2.6
78
0
78
0
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[ 2.724609375, 117.158203125, 117.861328125, 56.513671875, 2.109375, -18.28087043762207 ]
2.633333
79
0
79
0
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[ 3.076171875, 112.763671875, 114.697265625, 57.744140625, 2.8125, -16.222759246826172 ]
2.666667
80
0
80
0
[ 3.955078125, 97.734375, 98.61328125, 63.720703125, 6.15234375, -11.750306129455566 ]
[ 3.33984375, 108.6328125, 111.181640625, 58.974609375, 3.603515625, -14.406779289245605 ]
2.7
81
0
81
0
[ 3.603515625, 95.712890625, 96.591796875, 63.80859375, 6.328125, -11.260709762573242 ]
[ 3.779296875, 104.853515625, 107.841796875, 60.46875, 4.130859375, -12.953994750976562 ]
2.733333
82
0
82
0
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[ 3.603515625, 101.25, 104.501953125, 61.435546875, 4.74609375, -12.348668098449707 ]
2.766667
83
0
83
0
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[ 3.33984375, 97.998046875, 101.689453125, 61.875, 5.09765625, -11.86440658569336 ]
2.8
84
0
84
0
[ 2.548828125, 90.87890625, 92.548828125, 63.45703125, 6.416015625, -7.0991435050964355 ]
[ 3.076171875, 95.361328125, 99.580078125, 62.2265625, 5.2734375, -10.653753280639648 ]
2.833333
85
0
85
0
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[ 2.900390625, 93.33984375, 97.822265625, 62.490234375, 5.537109375, -9.443099021911621 ]
2.866667
86
0
86
0
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[ 2.8125, 91.58203125, 96.064453125, 62.490234375, 5.537109375, -8.474576950073242 ]
2.9
87
0
87
0
[ 1.669921875, 85.341796875, 89.033203125, 62.05078125, 6.767578125, -5.018359661102295 ]
[ 2.63671875, 89.912109375, 94.5703125, 62.490234375, 5.537109375, -7.5060529708862305 ]
2.933333
88
0
88
0
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[ 2.4609375, 88.2421875, 93.251953125, 62.2265625, 5.537109375, -6.900726318359375 ]
2.966667
89
0
89
0
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[ 2.021484375, 86.220703125, 92.021484375, 62.2265625, 5.537109375, -6.053268909454346 ]
3
90
0
90
0
[ 0.966796875, 79.541015625, 84.111328125, 62.314453125, 6.85546875, -1.4687882661819458 ]
[ 1.7578125, 84.111328125, 90.52734375, 61.962890625, 5.537109375, -4.7215495109558105 ]
3.033333
91
0
91
0
[ 0.703125, 77.958984375, 82.353515625, 62.841796875, 7.03125, -0.9791921973228455 ]
[ 1.318359375, 82.001953125, 88.76953125, 62.05078125, 5.537109375, -3.5108957290649414 ]
3.066667
92
0
92
0
[ 0.439453125, 76.552734375, 80.68359375, 63.544921875, 7.294921875, -0.48959609866142273 ]
[ 0.87890625, 79.98046875, 87.36328125, 62.138671875, 5.625, -2.4213075637817383 ]
3.1
93
0
93
0
[ 0.087890625, 75.234375, 79.189453125, 64.248046875, 7.294921875, 2.3255813121795654 ]
[ 0.703125, 78.046875, 85.869140625, 62.138671875, 6.064453125, -1.452784538269043 ]
3.133333
94
0
94
0
[ -0.17578125, 74.00390625, 77.6953125, 64.775390625, 7.3828125, 4.406364440917969 ]
[ 0.615234375, 76.201171875, 83.935546875, 62.578125, 6.416015625, -0.7263922691345215 ]
3.166667
95
0
95
0
[ -0.52734375, 72.7734375, 76.376953125, 65.126953125, 7.55859375, 5.630354881286621 ]
[ 0.439453125, 75.146484375, 82.6171875, 63.28125, 6.50390625, 0.48426151275634766 ]
3.2
96
0
96
0
[ -0.703125, 71.806640625, 75.322265625, 65.302734375, 7.734375, 6.609547138214111 ]
[ 0.263671875, 74.091796875, 81.03515625, 63.544921875, 6.50390625, 2.1791768074035645 ]
3.233333
97
0
97
0
[ -0.87890625, 71.015625, 74.443359375, 65.302734375, 7.998046875, 7.0991435050964355 ]
[ 0.263671875, 72.685546875, 79.365234375, 63.984375, 6.50390625, 3.3898305892944336 ]
3.266667
98
0
98
0
[ -0.966796875, 70.48828125, 73.828125, 65.390625, 8.173828125, 7.711138725280762 ]
[ 0.263671875, 71.279296875, 78.134765625, 64.423828125, 6.591796875, 4.479419231414795 ]
3.3
99
0
99
0
End of preview. Expand in Dataset Viewer.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 50,
    "total_frames": 13426,
    "total_tasks": 1,
    "total_videos": 50,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
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    "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": {
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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": {
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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.images.cam_high": {
            "dtype": "video",
            "shape": [
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            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        "task_index": {
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            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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