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Datasets:
RasmusP
/
so100_custommovement3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
lerobot
Libraries:
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pandas
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
14.8
frame_index
int64
0
445
episode_index
int64
0
0
index
int64
0
445
task_index
int64
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0
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71
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[ 69.43359375, 66.884765625, 47.109375, 97.03125, -20.56640625, -0.086805559694767 ]
[ 68.90625, 68.994140625, 47.109375, 97.03125, -20.478515625, 1.063829779624939 ]
2.4
72
0
72
0
[ 69.43359375, 65.126953125, 47.28515625, 97.119140625, -20.56640625, 0.086805559694767 ]
[ 68.90625, 68.115234375, 47.021484375, 97.03125, -20.478515625, 1.063829779624939 ]
2.433333
73
0
73
0
[ 69.43359375, 63.369140625, 47.724609375, 97.119140625, -20.56640625, 0.694444477558136 ]
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2.466667
74
0
74
0
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[ 69.08203125, 65.0390625, 47.28515625, 97.03125, -20.478515625, 1.063829779624939 ]
2.5
75
0
75
0
[ 69.43359375, 59.94140625, 49.04296875, 97.119140625, -20.654296875, 4.1666669845581055 ]
[ 69.08203125, 63.45703125, 47.724609375, 97.03125, -20.478515625, 1.063829779624939 ]
2.533333
76
0
76
0
[ 69.43359375, 58.53515625, 49.74609375, 97.119140625, -20.654296875, 7.03125 ]
[ 69.345703125, 61.69921875, 48.251953125, 97.03125, -20.478515625, 1.8085107803344727 ]
2.566667
77
0
77
0
[ 69.43359375, 57.48046875, 50.537109375, 97.119140625, -20.654296875, 10.677083969116211 ]
[ 69.609375, 60.205078125, 48.8671875, 97.03125, -20.478515625, 3.085106372833252 ]
2.6
78
0
78
0
[ 69.43359375, 56.865234375, 51.328125, 97.119140625, -20.654296875, 14.84375 ]
[ 69.697265625, 58.7109375, 49.5703125, 97.03125, -20.478515625, 4.893617153167725 ]
2.633333
79
0
79
0
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[ 69.697265625, 57.392578125, 50.44921875, 96.943359375, -20.478515625, 7.340425491333008 ]
2.666667
80
0
80
0
[ 69.43359375, 57.48046875, 52.734375, 97.119140625, -20.654296875, 23.4375 ]
[ 69.697265625, 56.953125, 51.15234375, 96.943359375, -20.478515625, 10.319149017333984 ]
2.7
81
0
81
0
[ 69.43359375, 58.0078125, 52.998046875, 97.119140625, -20.654296875, 27.43055534362793 ]
[ 69.697265625, 56.953125, 51.767578125, 96.943359375, -20.478515625, 13.93617057800293 ]
2.733333
82
0
82
0
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[ 69.697265625, 56.953125, 52.3828125, 96.943359375, -20.478515625, 17.659574508666992 ]
2.766667
83
0
83
0
[ 69.43359375, 59.150390625, 53.0859375, 97.20703125, -20.654296875, 33.15972137451172 ]
[ 69.697265625, 56.953125, 52.734375, 96.943359375, -20.478515625, 21.382978439331055 ]
2.8
84
0
84
0
[ 69.43359375, 59.765625, 52.998046875, 97.20703125, -20.654296875, 35.0694465637207 ]
[ 69.697265625, 57.041015625, 52.822265625, 96.943359375, -20.478515625, 24.574466705322266 ]
2.833333
85
0
85
0
[ 69.43359375, 60.556640625, 52.998046875, 97.20703125, -20.654296875, 36.197914123535156 ]
[ 69.697265625, 57.12890625, 52.91015625, 96.943359375, -20.478515625, 28.297870635986328 ]
2.866667
86
0
86
0
[ 69.345703125, 61.34765625, 53.0859375, 97.20703125, -20.654296875, 36.6319465637207 ]
[ 69.697265625, 57.392578125, 52.998046875, 96.943359375, -20.478515625, 31.063831329345703 ]
2.9
87
0
87
0
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[ 69.697265625, 58.0078125, 53.173828125, 96.943359375, -20.478515625, 32.978721618652344 ]
2.933333
88
0
88
0
[ 69.345703125, 62.666015625, 52.91015625, 98.525390625, -20.654296875, 37.4131965637207 ]
[ 69.697265625, 58.53515625, 53.173828125, 96.943359375, -20.478515625, 34.36170196533203 ]
2.966667
89
0
89
0
[ 69.345703125, 63.28125, 52.55859375, 99.755859375, -20.7421875, 37.4131965637207 ]
[ 69.697265625, 59.0625, 53.173828125, 97.3828125, -20.478515625, 35.319149017333984 ]
3
90
0
90
0
[ 69.345703125, 63.896484375, 52.20703125, 101.162109375, -20.830078125, 37.5 ]
[ 69.697265625, 59.58984375, 53.173828125, 97.91015625, -20.478515625, 36.17021179199219 ]
3.033333
91
0
91
0
[ 69.345703125, 64.6875, 52.03125, 102.568359375, -21.005859375, 37.5 ]
[ 69.609375, 60.1171875, 53.173828125, 98.7890625, -20.478515625, 36.48936080932617 ]
3.066667
92
0
92
0
[ 69.2578125, 65.830078125, 51.6796875, 103.974609375, -21.005859375, 37.5 ]
[ 69.609375, 60.8203125, 53.173828125, 100.107421875, -20.478515625, 36.914894104003906 ]
3.1
93
0
93
0
[ 69.2578125, 67.412109375, 51.50390625, 105.205078125, -21.005859375, 37.5 ]
[ 69.521484375, 61.5234375, 53.173828125, 101.162109375, -20.654296875, 37.02127456665039 ]
3.133333
94
0
94
0
[ 69.2578125, 69.08203125, 51.50390625, 106.259765625, -21.005859375, 37.5 ]
[ 69.521484375, 62.666015625, 53.173828125, 101.77734375, -20.7421875, 37.02127456665039 ]
3.166667
95
0
95
0
[ 69.2578125, 71.103515625, 51.50390625, 107.2265625, -21.09375, 37.5 ]
[ 69.521484375, 63.984375, 53.173828125, 102.216796875, -20.830078125, 37.02127456665039 ]
3.2
96
0
96
0
[ 69.08203125, 73.30078125, 51.50390625, 108.10546875, -21.181640625, 37.5 ]
[ 69.521484375, 65.390625, 53.173828125, 102.3046875, -20.91796875, 37.02127456665039 ]
3.233333
97
0
97
0
[ 68.73046875, 75.498046875, 51.50390625, 108.984375, -21.181640625, 37.5 ]
[ 69.521484375, 67.412109375, 53.173828125, 102.48046875, -20.91796875, 37.02127456665039 ]
3.266667
98
0
98
0
[ 68.5546875, 77.6953125, 51.50390625, 110.0390625, -21.26953125, 37.5 ]
[ 69.345703125, 69.43359375, 53.173828125, 102.48046875, -20.91796875, 37.02127456665039 ]
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": 446,
    "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": [
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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
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.webcam": {
            "dtype": "video",
            "shape": [
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            "names": [
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            "info": {
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        "observation.images.phone": {
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            "names": [
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            "info": {
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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