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Datasets:
RasmusP
/
so100_custommovement5

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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[ 16.5234375, 180.263671875, 145.01953125, 69.9609375, -27.421875, 0.8510637879371643 ]
2.366667
71
0
71
0
[ 16.875, 177.626953125, 131.572265625, 70.400390625, -21.796875, 1.0416667461395264 ]
[ 16.5234375, 180, 142.119140625, 69.9609375, -26.455078125, 0.8510637879371643 ]
2.4
72
0
72
0
[ 16.875, 176.044921875, 128.84765625, 70.6640625, -19.16015625, 1.0416667461395264 ]
[ 16.34765625, 179.560546875, 139.5703125, 70.048828125, -25.13671875, 0.8510637879371643 ]
2.433333
73
0
73
0
[ 16.875, 173.84765625, 126.2109375, 70.6640625, -16.34765625, 1.0416667461395264 ]
[ 16.34765625, 178.857421875, 137.109375, 70.224609375, -23.818359375, 0.8510637879371643 ]
2.466667
74
0
74
0
[ 16.875, 171.38671875, 123.75, 70.6640625, -13.623046875, 1.0416667461395264 ]
[ 16.435546875, 177.626953125, 134.296875, 70.48828125, -21.796875, 0.8510637879371643 ]
2.5
75
0
75
0
[ 16.875, 168.75, 121.11328125, 70.6640625, -11.162109375, 1.0416667461395264 ]
[ 16.5234375, 176.1328125, 131.572265625, 70.48828125, -19.423828125, 0.8510637879371643 ]
2.533333
76
0
76
0
[ 16.875, 165.9375, 118.388671875, 70.6640625, -9.052734375, 1.0416667461395264 ]
[ 16.611328125, 174.111328125, 128.759765625, 70.48828125, -16.787109375, 0.8510637879371643 ]
2.566667
77
0
77
0
[ 16.875, 162.94921875, 115.83984375, 70.751953125, -7.3828125, 1.0416667461395264 ]
[ 16.787109375, 172.08984375, 126.298828125, 70.48828125, -14.501953125, 0.8510637879371643 ]
2.6
78
0
78
0
[ 16.875, 160.13671875, 113.37890625, 70.927734375, -6.416015625, 1.0416667461395264 ]
[ 16.875, 169.62890625, 123.662109375, 70.576171875, -12.12890625, 0.8510637879371643 ]
2.633333
79
0
79
0
[ 16.875, 157.587890625, 110.7421875, 71.3671875, -5.625, 1.0416667461395264 ]
[ 16.962890625, 166.9921875, 120.9375, 70.576171875, -10.107421875, 0.8510637879371643 ]
2.666667
80
0
80
0
[ 16.875, 155.21484375, 107.841796875, 71.89453125, -5.09765625, 1.0416667461395264 ]
[ 16.962890625, 164.267578125, 118.30078125, 70.751953125, -8.525390625, 0.8510637879371643 ]
2.7
81
0
81
0
[ 16.875, 152.841796875, 104.765625, 72.685546875, -5.009765625, 1.0416667461395264 ]
[ 16.962890625, 161.54296875, 115.751953125, 71.19140625, -7.3828125, 0.8510637879371643 ]
2.733333
82
0
82
0
[ 16.875, 150.556640625, 101.513671875, 73.564453125, -5.009765625, 1.0416667461395264 ]
[ 16.875, 158.818359375, 113.02734375, 71.630859375, -6.50390625, 0.8510637879371643 ]
2.766667
83
0
83
0
[ 16.875, 148.271484375, 98.173828125, 74.70703125, -4.921875, 1.0416667461395264 ]
[ 16.787109375, 156.357421875, 110.390625, 72.158203125, -6.064453125, 0.8510637879371643 ]
2.8
84
0
84
0
[ 16.875, 145.986328125, 94.833984375, 76.201171875, -4.921875, 1.0416667461395264 ]
[ 16.611328125, 153.80859375, 107.2265625, 72.94921875, -5.625, 0.8510637879371643 ]
2.833333
85
0
85
0
[ 16.875, 143.701171875, 91.318359375, 77.958984375, -4.921875, 1.0416667461395264 ]
[ 16.5234375, 151.5234375, 104.23828125, 73.916015625, -5.44921875, 0.8510637879371643 ]
2.866667
86
0
86
0
[ 16.875, 141.416015625, 87.890625, 79.716796875, -4.921875, 1.0416667461395264 ]
[ 16.5234375, 149.0625, 100.986328125, 75.146484375, -5.2734375, 0.8510637879371643 ]
2.9
87
0
87
0
[ 16.875, 139.130859375, 84.287109375, 81.5625, -4.921875, 1.0416667461395264 ]
[ 16.5234375, 146.77734375, 97.822265625, 76.552734375, -5.2734375, 0.8510637879371643 ]
2.933333
88
0
88
0
[ 16.875, 136.845703125, 80.5078125, 83.408203125, -4.921875, 1.0416667461395264 ]
[ 16.5234375, 144.228515625, 94.39453125, 78.134765625, -5.185546875, 0.8510637879371643 ]
2.966667
89
0
89
0
[ 16.875, 134.6484375, 76.640625, 85.166015625, -4.833984375, 1.0416667461395264 ]
[ 16.5234375, 141.767578125, 90.966796875, 79.8046875, -5.185546875, 0.8510637879371643 ]
3
90
0
90
0
[ 16.875, 132.36328125, 72.861328125, 86.923828125, -4.833984375, 1.0416667461395264 ]
[ 16.5234375, 139.482421875, 87.36328125, 81.474609375, -5.185546875, 0.8510637879371643 ]
3.033333
91
0
91
0
[ 16.875, 129.638671875, 69.169921875, 88.59375, -4.833984375, 1.0416667461395264 ]
[ 16.5234375, 137.28515625, 83.84765625, 83.232421875, -5.185546875, 0.8510637879371643 ]
3.066667
92
0
92
0
[ 16.875, 126.826171875, 65.7421875, 90.17578125, -4.833984375, 1.0416667461395264 ]
[ 16.5234375, 135.17578125, 80.068359375, 84.990234375, -5.185546875, 0.8510637879371643 ]
3.1
93
0
93
0
[ 16.875, 124.013671875, 62.578125, 91.845703125, -4.833984375, 1.0416667461395264 ]
[ 16.5234375, 133.06640625, 76.2890625, 86.8359375, -5.185546875, 0.8510637879371643 ]
3.133333
94
0
94
0
[ 16.69921875, 120.9375, 59.677734375, 93.427734375, -4.74609375, 1.0416667461395264 ]
[ 16.5234375, 130.60546875, 72.509765625, 88.330078125, -5.185546875, 0.8510637879371643 ]
3.166667
95
0
95
0
[ 16.5234375, 117.861328125, 56.77734375, 94.921875, -4.658203125, 1.0416667461395264 ]
[ 16.5234375, 128.232421875, 68.994140625, 90, -5.185546875, 0.8510637879371643 ]
3.2
96
0
96
0
[ 16.083984375, 115.13671875, 53.96484375, 96.064453125, -4.04296875, 1.0416667461395264 ]
[ 16.5234375, 125.419921875, 65.56640625, 91.669921875, -5.009765625, 0.8510637879371643 ]
3.233333
97
0
97
0
[ 15.99609375, 112.236328125, 51.240234375, 96.943359375, -2.98828125, 1.0416667461395264 ]
[ 16.5234375, 122.34375, 62.314453125, 93.1640625, -4.921875, 0.8510637879371643 ]
3.266667
98
0
98
0
[ 15.8203125, 109.599609375, 48.779296875, 97.646484375, -1.58203125, 1.0416667461395264 ]
[ 16.5234375, 118.828125, 59.23828125, 94.5703125, -4.39453125, 0.8510637879371643 ]
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
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.webcam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "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",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
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            "shape": [
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                640,
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            ],
            "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",
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            ],
            "names": null
        },
        "index": {
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                1
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        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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